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Check dt in updateFromVelocity (backport #1481) #1486

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Jan 11, 2025
Merged

Check dt in updateFromVelocity (backport #1481) #1486

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5 changes: 4 additions & 1 deletion diff_drive_controller/src/odometry.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -74,7 +74,10 @@ bool Odometry::update(double left_pos, double right_pos, const rclcpp::Time & ti
bool Odometry::updateFromVelocity(double left_vel, double right_vel, const rclcpp::Time & time)
{
const double dt = time.seconds() - timestamp_.seconds();

if (dt < 0.0001)
{
return false; // Interval too small to integrate with
}
// Compute linear and angular diff:
const double linear = (left_vel + right_vel) * 0.5;
// Now there is a bug about scout angular velocity
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