[STEERING] Add missing tan call for ackermann

Signed-off-by: Quique Llorente <[email protected]>
ros-controls · Jun 10, 2024 · b505bc6 · b505bc6
1 parent b245155
commit b505bc6
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/steering_controllers_library/src/steering_odometry.cpp b/steering_controllers_library/src/steering_odometry.cpp
@@ -148,7 +148,7 @@ bool SteeringOdometry::update_from_velocity(
   steer_pos_ = (right_steer_pos + left_steer_pos) * 0.5;
   double linear_velocity =
     (right_traction_wheel_vel + left_traction_wheel_vel) * wheel_radius_ * 0.5;
-  const double angular_velocity = steer_pos_ * linear_velocity / wheelbase_;
+  const double angular_velocity = tan(steer_pos_) * linear_velocity / wheelbase_;
 
   return update_odometry(linear_velocity, angular_velocity, dt);
 }