wt_node odom: Also set z velocity to 0

[ros_wild_thumper.git] / scripts / wt_node.py

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index ab58496fca7b6f0220fe05216632f3d8c0811a4e..663a4f17774dbab88772e094c556f047246729a9 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -267,6 +267,7 @@ class MoveBase:
                odom.child_frame_id = "base_footprint"
                odom.twist.twist.linear.x = speed_trans
                odom.twist.twist.linear.y = 0.0
                odom.child_frame_id = "base_footprint"
                odom.twist.twist.linear.x = speed_trans
                odom.twist.twist.linear.y = 0.0

+               odom.twist.twist.linear.z = 0.0

                odom.twist.twist.angular.z = speed_rot
                odom.twist.covariance = odom.pose.covariance
 
                odom.twist.twist.angular.z = speed_rot
                odom.twist.covariance = odom.pose.covariance