Odometry

Odometry Publisher

The Odometry publisher, under the Mayflower/Scripts/Sensors/Odometry folder publishes the odometry information of the boat in the ROS message of Odometry. The general definition of odometry is the use of data from motion sensors to estimate change in position over time. Odometry is used to estimate its position and orientation relative to a starting location given in terms of an x and y position and an orientation around the z axis (Notice there is a difference by Unity's and ROS's coordinate system, here we are talking in the coordinate system of ROS. For more deatils regrading the difference, check here ). The topic used usually is /odom

ROS and Unity Coordinate System Conversion

We do not recommand to do the coordinate conversion manually. A set of utility functions are provided by ROS# to handle the transformation. These are static methods in the TransformExtensions class of RosSharp which provided functions to convert Vector3, Quaternion` from Unity to ROS, or from ROS to Unity