Add odometry plugin to mobile_robot demos#531
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Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
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Converting to draft as this should not be merged yet. |
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do you mind to fix conflicts?
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I will rebase this PR on top of #511 once it gets completed. |
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This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete. |
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Depends on #511
Added
gz-sim-odometry-publisher-systemto the URDF/SDF descriptions, which allows Gazebo to publish the "real" odometry on a topic. This topic can then be used to verify how accurately the controllers are working.