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odometry fix in visual marker loc #757

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Merged
javizqh merged 1 commit into from
Jun 22, 2026
Merged

odometry fix in visual marker loc #757

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9 changes: 3 additions & 6 deletions CustomRobots/turtlebot3/params/turtlebot3.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,12 +5,9 @@
gz_type_name: "gz.msgs.Odometry"
direction: GZ_TO_ROS

# gz topic published by DiffDrive plugin
- ros_topic_name: "turtlebot3/odom_noisy"
gz_topic_name: "turtlebot3/odom_noisy"
ros_type_name: "nav_msgs/msg/Odometry"
gz_type_name: "gz.msgs.Odometry"
direction: GZ_TO_ROS
# NOTE: /turtlebot3/odom_noisy is NOT bridged here. The NoisyOdometryPlugin
# (gz_noisy_odometry) publishes that ROS topic directly. Bridging it would
# create a second, empty publisher with mismatched QoS.

# gz topic subscribed to by DiffDrive plugin
- ros_topic_name: "turtlebot3/cmd_vel"
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2 changes: 1 addition & 1 deletion database/universes.sql
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Expand Up @@ -156,7 +156,7 @@ COPY public.universes (id, name, world_id, robot_id) FROM stdin;
26 Autoparking Lidar Simple: In line 5 0
27 Vacuums House Roof 26 10
28 Restaurant 21 0
29 Vacuums House Markers 25 17
29 Vacuums House Markers 25 21
30 Small Laser Mapping Warehouse 33 21
31 Rescue People Harmonic 31 0
32 Follow Road Harmonic 32 0
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