Fix SteeringOdometry calculation error (#1777)

Narukara · web-flow · commit 2800f21c048d · 2025-06-27T22:25:54.000+02:00
diff --git a/steering_controllers_library/src/steering_odometry.cpp b/steering_controllers_library/src/steering_odometry.cpp
@@ -180,7 +180,7 @@ bool SteeringOdometry::update_from_velocity(
 
   double linear_velocity = get_linear_velocity_double_traction_axle(
     right_traction_wheel_vel, left_traction_wheel_vel, steer_pos_);
-  const double angular_velocity = steer_pos_ * linear_velocity / wheel_base_;
+  const double angular_velocity = std::tan(steer_pos_) * linear_velocity / wheel_base_;
 
   return update_odometry(linear_velocity, angular_velocity, dt);
 }

Original file line number	Diff line number	Diff line change
`@@ -180,7 +180,7 @@ bool SteeringOdometry::update_from_velocity(`
`180`	`180`
`181`	`181`	`double linear_velocity = get_linear_velocity_double_traction_axle(`
`182`	`182`	`right_traction_wheel_vel, left_traction_wheel_vel, steer_pos_);`
`183`		`- const double angular_velocity = steer_pos_ * linear_velocity / wheel_base_;`
	`183`	`+ const double angular_velocity = std::tan(steer_pos_) * linear_velocity / wheel_base_;`
`184`	`184`
`185`	`185`	`return update_odometry(linear_velocity, angular_velocity, dt);`
`186`	`186`	`}`