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"
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)