X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=1cf9d8d49fc42608ca1db0b1a0ed69873a95e4ef;hp=1549ea6f7aad56b906c7ad18321dd5857fadd882;hb=b301eb19e6487497a8bb946c538a25aa4ee28c1d;hpb=54a59e74352041bdda72f2eea2cab24683f0e16a

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 1549ea6..1cf9d8d 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -237,9 +237,9 @@ class MoveBase:
 		odom.pose.pose.orientation.w = odom_quat[3]
 		odom.pose.covariance[0] = self.odom_covar_xy # x
 		odom.pose.covariance[7] = self.odom_covar_xy # y
-		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
 		odom.pose.covariance[35] = self.odom_covar_angle # rotation about Z axis
 
 		# set the velocity