- odom.pose.covariance[14] = 99999 # z
- odom.pose.covariance[21] = 99999 # rotation about X axis
- odom.pose.covariance[28] = 99999 # rotation about Y axis
+ odom.pose.covariance[14] = self.odom_covar_xy # z
+ odom.pose.covariance[21] = self.odom_covar_angle # rotation about X axis
+ odom.pose.covariance[28] = self.odom_covar_angle # rotation about Y axis