Hi, after our first regional we wanted to do more complicated autonomous routines, we are using the classic encoder distance and gyro odometry and PathPlanner for our trajectories, but that odometry can give some problems when it comes to obstacles such the cable protector or the charging station. Then, the idea of using the DifferentialDrivePoseEstimator class with odometry corrected with vision as our odometry surged after we saw that it aligned us reliably during the matches.
The problem is when we checked the heading given by the pose estimator it returned something around 180 degrees (aligned with the blue grid) while in PathPlanner the same position returned 0 degrees
PathPlanner heading
Pose Estimator headig
Any idea how this can be corrected?
