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ProgrammingRobotsStudyGroup / robo_magellan

Apache License 2.0
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Need to update waypoints based on actual robot start position #26

Closed merose closed 6 years ago

merose commented 6 years ago

Reopening based on testing results from yesterday.

merose commented 6 years ago

My hunch is that it's the frame ID (Ardupilot frame ID) that is causing the problem. When I get waypoints back from mavros, the first frame ID is 0 (FRAME_GLOBAL), the result are 3 (FRAME_GLOBAL_RELATIVE_ALT). I was using all frame 0. I've modified the code to use 3 for all but the first. I'm going to refactor the code so that the offsetting is done in waypoint_transformer, so that it can be tested without running the rover.