Hi there,

I would like to report a mistake related to the course “Basic Kinematics of Mobile Robots” Chapter 2.

In the image below, we can see that there is a problem with the linear velocity formula’s unit. In fact, as it is right now, the units of the velocity are expressed in (m), so it is not homgeneous. For the formula to be correct, we have to divide the arc distance by the sampling time we are using.

We also have the same problem in the code of the solution. We have to divide the twist’s linear velocity by the sampling time.

The same goes for the angular velocity.

Sincerely.