駿 高世 / Mbed 2 deprecated abu2019_mr1

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Dependencies:   mbed BNO055_fusion Adafruit_GFX ros_lib_kinetic

Diff: odometry/odom.cpp

Revision:
6:20a32baeff79
Parent:
5:e678f1ac6cdc
Child:
8:80708bacb5b5
--- a/odometry/odom.cpp	Tue Dec 18 21:00:30 2018 +0000
+++ b/odometry/odom.cpp	Tue Dec 18 21:51:13 2018 +0000
@@ -58,7 +58,7 @@
     }
     
     //オフセットを考慮して角度を設定
-    world_.angle(actual_angle_ + initialpose_.angle() + offset_angle_);
+    world_.angle(actual_angle_ - offset_angle_);
     
     //値更新
     prev_angle = z_angle;