ipa320/cob_driver — pull request #7 by cpc-pk (2011-11-24 12:17:26+00:00)
Title: sick_s300, odometry SOLVED for sim and hardware

Workaround about bad odometry measurements / navigation errors
-> the actual reason for that are delayed and mis-stamped laser-scanner messages

cob_undercarriage_ctrl:
- improved odometry calculation, doubled odom update frequency and now using Heun-integration (midpoint-integration)
- cleaned code

sick_s300:
basically only corrected time-stamps in LaserScanner-msgs:
- From the serial buffer: now using the latest message in stream
- trying to sync ROS-Time with sick-timestamps, contained in each scan-dataset.

Also included in this request:
some logging / output things for CanPeakSys-Hardware, to find out about reason for crash