Add local global conversion

Auterion / px4-ros2-interface-lib

Library to interface with PX4 from a companion computer using ROS 2

BSD 3-Clause "New" or "Revised" License

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Add local global conversion #29

Closed GuillaumeLaine closed 4 months ago

GuillaumeLaine commented 5 months ago

Geodesic operation and conversion utils (mostly PX4 implementation)
- Map projection class split as MapProjectionImpl and MapProjection. The former handles the math, the latter is user facing and handles the ROS subscription to get the reference position from PX4
Adds goto global setpoint type: projects the provided global position to the local frame, and calls the (local) goto setpoint type
Example global goto mode: mimics (local) goto example behavior, but in global coordinates.

GuillaumeLaine commented 5 months ago

Thanks for the review, I'm done applying your suggestions for this PR. I'll open separate PRs for the suggestions that weren't directly related to this PR:

Odometry class for attitude
Node with Mode class
Callback for ekf resets in the MapProjection class