It would be nice to have an altimeter to measure altitude. At the moment, we can measure the altitude with GPS, but the altimeter would be a better formalization for the altitude measurement.

Hello,
I was wondering if it is possible to share some complete scenes like indoor places or any scene for obstacle avoidance and potential machine learning. Is there any way to add objects, textures and so on to the scene? Thanks

we would like to have a wiki page, which describes in detail the requirements for background images (standard sizes, relation to robot size, ...).

Then there should be a gallery of images, which can be used for free. There have been proposals in the context of GCin, which can be used as a starting point.

The load of a background image in the lab should be possible from a user supplied URL. T

Describe the bug
Current call uses:

const auto angle = iangle - odom->getState(StateMode::FRAME_TRANSFORMATION).theta;

Which can lead to 270 degree turns instead of 90 degree turns.

Changing to:

const auto angle = OdomMath::constrainAngle180(iangle - odom->getState(StateMode::FRAME_TRANSFORMATION).theta);

Should ensure the robot turns the shortest angle

**Steps To R