The methods to acquire odometry information are given below:
(current-lfor-x (self <wheelchair-client>)) // current x coordinate (current-lfor-y (self <wheelchair-client>)) // current y coorinate (current-lfor-theta (self <wheelchair-client>)) // current th coordinate (mreset-origin (self <wheelchair-client> x y th)) (current-position (self <wheelchair-client>)) // (x y th)The method
mreset-origin resets the odometry such that the current Vulcan's location becomes as specified by the parameter of mreset-origin. Vulcan only keeps track of one odometry frame of reference, so be careful when resetting the odometry origin.