Load Mavros FakeGPS Plugin and Publish Position Estimates

IllinoisAUV / robosub

Code that runs on the submarine

GNU General Public License v3.0

5 stars 1 forks source link

Load Mavros FakeGPS Plugin and Publish Position Estimates #70

Open abrandemuehl opened 6 years ago

abrandemuehl commented 6 years ago

Mavros and Ardupilot supported sending fake GPS messages. Using the data we have from the ZED camera and other IMU's for position estimation, we should be able to do better than the default EKF on the autopilot. Sending fake gps messages would allow us to send that data to Ardupilot to use

abrandemuehl commented 6 years ago

It might be better to use mocap_pose_estimate since it takes PoseStamped messages instead of weird GPS messages. I'm not which one is handled better by ArduPilot