Fix odom drift #6
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Working much better! I think the remaining drift is due to wheel slip in the sim so I attempted to reduce the linear acceleration but want to balance the robot to moving at a decent rate in the real world. I still need to tune nav to avoid obstacles better but will do that in future PR's. |
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There is an issue with odom in sim (both Gazebo and Isaac). This PR is to diagnose and fix the drift.
For example if you teleop the robot in a circle in sim it rotates 3/4 of a full rotation to 1 rotation reported by odom.
