Fix odometry calculation of angular velocity to use chassis_length (car length) instead of wheelbase (car width)

Author: droemer7

vesc_ackermann/include/vesc_ackermann/vesc_to_odom.h

@@ -27,7 +27,7 @@ class VescToOdom
  // conversion gain and offset
  double speed_to_erpm_gain_, speed_to_erpm_offset_;
  double steering_to_servo_gain_, steering_to_servo_offset_;
- double wheelbase_;
+ double chassis_length_;
  bool publish_tf_;
 
  // odometry state

vesc_ackermann/src/vesc_to_odom.cpp

@@ -30,7 +30,7 @@ VescToOdom::VescToOdom(ros::NodeHandle nh, ros::NodeHandle private_nh) :
  return;
  if (!getRequiredParam(nh, "steering_angle_to_servo_offset", steering_to_servo_offset_))
  return;
- if (!getRequiredParam(nh, "wheelbase", wheelbase_))
+ if (!getRequiredParam(nh, "chassis_length", chassis_length_))
  return;
  }
  private_nh.param("publish_tf", publish_tf_, publish_tf_);
@@ -63,7 +63,7 @@ void VescToOdom::vescStateCallback(const vesc_msgs::VescStateStamped::ConstPtr&
  if (use_servo_cmd_) {
  current_steering_angle =
  ( last_servo_cmd_->data - steering_to_servo_offset_ ) / steering_to_servo_gain_;
- current_angular_velocity = current_speed * tan(current_steering_angle) / wheelbase_;
+ current_angular_velocity = current_speed * tan(current_steering_angle) / chassis_length_;
  }
 
  // use current state as last state if this is our first time here