laas/morse — pull request #172 by kargm (2012-09-13 12:58:56+00:00)
Title: Fixes for Odometry sensor and ROS middleware (to be talked over with Arnaud and Felix)

ROS-Middleware:

Sending two TF-frames yielded errors with loclization (at the moment i have no clue why...). So I decided that the Odometry sensor only sends the transform /odom -> /baselink which (in my opinion) represents a realistic behaviour.

Odometry Sensor:

Fixed speed calculation: v = s / t , i.e. v = s * frequency. Also speeds are now relative to the robot, i.e. positive x is forward...