Using odom in montecarlo laser loc

exercises/static/exercises/montecarlo_laser_loc/python_template/ros2_humble/HAL.py

@@ -4,6 +4,7 @@
 
 from hal_interfaces.general.motors import MotorsNode
 from hal_interfaces.general.odometry import OdometryNode
+from hal_interfaces.general.noise_odometry import NoisyOdometryNode
 from hal_interfaces.general.laser import LaserNode
 from hal_interfaces.general.bumper import BumperNode
 
@@ -20,6 +21,7 @@
     ### HAL INIT ###
     motor_node = MotorsNode("/cmd_vel", 4, 0.3)
     odometry_node = OdometryNode("/odom")
+    noisy_odometry_node = NoisyOdometryNode("/odom")
     laser_node = LaserNode("/roombaROS/laser/scan")
     bumper_node = BumperNode(
         [
@@ -32,6 +34,7 @@
     # Spin nodes so that subscription callbacks load topic data
     executor = rclpy.executors.MultiThreadedExecutor()
     executor.add_node(odometry_node)
+    executor.add_node(noisy_odometry_node)
     executor.add_node(laser_node)
     def __auto_spin() -> None:
         while rclpy.ok():
@@ -44,6 +47,9 @@ def __auto_spin() -> None:
 def getPose3d():
     return odometry_node.getPose3d()
 
+def getOdom():
+    return noisy_odometry_node.getPose3d()
+
 # Bumper
 def getBumperData():
     try: