Body frame velocity is incorrect

[bobbyshashin]

The velocity published on topic /guidance/velocity/ and the twist of /guidance/odometry/ appear to be the same. I visualized them in rqt and their graphs are always identical, no matter how I rotate my yaw angle.

However, according to the document the former one should be velocity in body frame, and the latter one is in global frame.

Am I able to acquire the velocity in body frame calculated from optical flow (or fused together with IMU) from Guidance SDK directly?

Thanks!