Fix SteeringOdometry calculation error (backport #1777) (#1778)

mergify[bot] · Narukara · web-flow · commit f8ab5b4a1cac · 2025-06-28T08:43:20.000+02:00
Co-authored-by: Narukara &lt;narukara17@gmail.com&gt;
diff --git a/steering_controllers_library/src/steering_odometry.cpp b/steering_controllers_library/src/steering_odometry.cpp
@@ -176,7 +176,7 @@ bool SteeringOdometry::update_from_velocity(
 
   double linear_velocity = get_linear_velocity_double_traction_axle(
     right_traction_wheel_vel, left_traction_wheel_vel, steer_pos_);
-  const double angular_velocity = steer_pos_ * linear_velocity / wheelbase_;
+  const double angular_velocity = std::tan(steer_pos_) * linear_velocity / wheelbase_;
 
   return update_odometry(linear_velocity, angular_velocity, dt);
 }

Original file line number	Diff line number	Diff line change
`@@ -176,7 +176,7 @@ bool SteeringOdometry::update_from_velocity(`
`176`	`176`
`177`	`177`	`double linear_velocity = get_linear_velocity_double_traction_axle(`
`178`	`178`	`right_traction_wheel_vel, left_traction_wheel_vel, steer_pos_);`
`179`		`- const double angular_velocity = steer_pos_ * linear_velocity / wheelbase_;`
	`179`	`+ const double angular_velocity = std::tan(steer_pos_) * linear_velocity / wheelbase_;`
`180`	`180`
`181`	`181`	`return update_odometry(linear_velocity, angular_velocity, dt);`
`182`	`182`	`}`