X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=eb9f8bd9bb138bf74c6ec771d7850b5fa77706c3;hp=96d07689809932aee4722db7e37e4627e25615d8;hb=483eaf7aa8ff347bee867cc5e79196cbe6e33dc3;hpb=fef837ff325499eccd07828f2f1ce104727d37db

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 96d0768..eb9f8bd 100755
--- 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)