How to choose between using Vicon or Odometry

[TomasMerva]

The argument for choosing between Vicon or Odometry is now part of the config file. This is important for nodes that concatenate states from dingo and kinova, and publish on the topics called dinova/joint_states and dinova/omni_states.

Should we leave it in the config file, or should it be the part of launch files?

[TomasMerva]

You can choose to use Vicon by modifying the argument in the launch file. https://github.com/INTERACT-tud-amr/dinova/blob/a79b9d7d6efa765a7a8c07fa819069a2bcf92a99/dinova_bringup/launch/dinova.launch#L13

There are three topics with the current state: /dinova/joint_states -> Consists of the dingo wheels and the kinova's joints /dinova/omni_states -> Consists of the dingo omnibase coordinates and the kinova's joints. The omnibase coordinates are received from the odometry /dinova/omni_states_vicon -> Consists of the dingo omnibase coordinates and the kinova's joints. The omnibase coordinates are received from Vicon