docs(skills): odometry robot state is now a typed 2D pose - #19
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theo-michel wants to merge 5 commits into
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docs(skills): odometry robot state is now a typed 2D pose#19theo-michel wants to merge 5 commits into
theo-michel wants to merge 5 commits into
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Matches innate-inc/innate-os#516: LAST_ODOM now injects innate.Odometry (x, y, theta + velocities) instead of a raw-message dict with a quaternion. Documents the attribute table and the deprecated dict-style access, and fixes the MonitorPosition example.
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…ess, raw fusion Illustrate the Odometry attribute API with runnable patterns: a DriveMeters closed-loop skill, the ยฑ180deg-safe heading accumulation, a stamp-based staleness guard, and a FusePose example using odom.raw for quaternion/z/ covariance.
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Companion to innate-inc/innate-os#516.
RobotState(RobotStateType.LAST_ODOM)now injects aninnate.Odometryobject — a flat 2D pose (x,y,theta/theta_degrees) plus body velocities — instead of a raw-message dict with a quaternion.self.odom.pose.pose.position.x) which never worked on the injected dict — now it documents the real API. Updated theMonitorPositionexample.Should merge together with the innate-os PR.