Merge pull request #135 from Achllle/fix/covariance_reset

Remove spurious covariance reset
nasa-jpl · May 20, 2021 · 3f865ea · 3f865ea
2 parents 8e25540 + 8f85903
commit 3f865ea
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/ROS/osr/src/rover.py b/ROS/osr/src/rover.py
@@ -325,8 +325,7 @@ def forward_kinematics(self):
         self.curr_twist.twist.linear.x = drive_angular_velocity * self.wheel_radius
         # now calculate angular velocity from its relation with linear velocity and turning radius
         self.curr_twist.twist.angular.z = self.curr_twist.twist.linear.x / self.curr_turning_radius
-        # covariance
-        self.curr_twist.covariance = 36 * [0.0,]
+
 
 if __name__ == '__main__':
     rospy.init_node('rover', log_level=rospy.INFO)