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note: need to find different library to use (the Lie algebra library I'm using currently requires Eigen 3.4+ and Ubuntu 20.04 only has 3.3.7) or just write the math myself, it's not too bad saw the |
Uses log map to convert from pose traveled during timestep to a twist (because the robot travels in an arc if it's simultaneously translating and rotating)
It helps a tiny bit, but position control on paths fixes drift/skew anyway (had to only do velocity feed forward to get drift/skew to show up) Also learned how to use the auto node :)
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Uses log map to convert from pose traveled during timestep to a twist (because the robot travels in an arc if it's simultaneously translating and rotating)