avr: calibration from umbmark

[ros_wild_thumper.git] / scripts / wt_node.py

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 96d07689809932aee4722db7e37e4627e25615d8..eb9f8bd9bb138bf74c6ec771d7850b5fa77706c3 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -151,7 +151,7 @@ class MoveBase:
                odom.pose.covariance[14] = 1e6 # z
                odom.pose.covariance[21] = 1e6 # rotation about X axis
                odom.pose.covariance[28] = 1e6 # rotation about Y axis
-               odom.pose.covariance[35] = 0.1 # rotation about Z axis
+               odom.pose.covariance[35] = 0.03 # rotation about Z axis
 
                # set the velocity
                odom.child_frame_id = "base_footprint"
@@ -163,7 +163,7 @@ class MoveBase:
                odom.twist.covariance[14] = 1e6 # z
                odom.twist.covariance[21] = 1e6 # rotation about X axis
                odom.twist.covariance[28] = 1e6 # rotation about Y axis
-               odom.twist.covariance[35] = 0.1 # rotation about Z axis
+               odom.twist.covariance[35] = 0.03 # rotation about Z axis
 
                # publish the message
                self.pub_odom.publish(odom)