Odometry estimation issue

[rventura]

Can't understand the meaning of the '-=' in line 556 of file libstage/model_position.cc. What is happening with me, on an omnidirectional robot, is that, with pose.a=0, a positive vel.y will imply a decreasing pose.y, which does not seem to make sense. Can anyone clarify this?

[slremy]

This may be one of those pesky coordinate frame issues:
https://github.com/rtv/Stage/blob/master/libstage/model_position.cc#L556