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KTH-SML / svea_mocap

ROS package for localizing and evaluating new localization approaches on SVEA with the Qualisys Motion Capture System
MIT License
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Adapter node for ground truth publisher on /state #6

Closed mich-pest closed 1 year ago

mich-pest commented 1 year ago

Node implementing the conversion of mocap messages and their publication on another topic. The aim of the node is to take measurements published on the given input_topic (TwistStamped) and then publish that information on the output_topic according to the format suitable for it (VehicleStateMsg). Other than filling in the fields the new VehicleState message, the node performs calculation in the _correct_mocap_coordinates method to take into account the angular and linear offset between map (child frame in the generated tf tree) and mocap (father) frames. Furthemore, the node provides the velocity information of the vehicle. A possible improvement, already detailed in the code, would be to also include in the published message the covariances given by the mocap publisher (currently set to zero).

kaarmu commented 1 year ago

This PR relates to #3

kaarmu commented 1 year ago

Okay, now I just want to check with @frankjjiang if LocalizationInterface or whatever already does /can publish mocap data to /state?

kaarmu commented 1 year ago

I'll close this from the conclusion in #3