1/2 Use odom topic with velocity - #3
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vincenttumminello wants to merge 6 commits into
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vincenttumminello wants to merge 6 commits into
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The real K1 publishes nav_msgs/Odometry on rt/odom (kTopicRosOdometer, 1.7.0 firmware): rt/odometer_state's planar pose plus the velocity, which NUbots_K1 now reads for Sensors.vTw. Publish it from the base state at the LowState cadence, following the ROS convention since Booster does not document the frames: pose in "odom", twist in the body frame "base_link". Adds the nav_msgs, std_msgs and builtin_interfaces types and the geometry_msgs twist and covariance types, with every package's msg/ on the fastddsgen include path so an .idl can include across packages; the existing generated code is unchanged. The synthetic state source now reports the velocity of its commanded walk, and the SDK contract test checks rt/odom. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_014yZBRrPMFAxdS4A93XWANS
vincenttumminello
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import the formatter from nubots first, make a different pr for that then run it for this |
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Needed for SRIF localisation. Tested with
tumminello/nusim-localisation-testunsure if it breaks anything else.