Bug: Incorrect Assignment in PublishOdometryToROSOmni Function (scout_base/src/scout_messenger.cpp)

[ZilchME]

There is a potential issue in the PublishOdometryToROSOmni function in the file scout_base/src/scout_messenger.cpp. Specifically, there may be an error in handling lateral velocity.

At line 354 of the file, the following line directly assigns the lateral velocity (lateral_speed_) to odom_msg.twist.twist.linear.y, instead of adding it to the twist section:

odom_msg.twist.twist.linear.y = 0.0;

It is recommended to correct it as follows:

odom_msg.twist.twist.linear.y = lateral_speed_;

I expect the value of linear.y to reflect the value of lateral_speed_, ensuring that the odometry message correctly contains lateral velocity information.