RoboJackets / urc-software

Primary codebase for the RoboNav team's URC rover.

https://robojackets.org/teams/robonav/

MIT License

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Feat/ground truth node #62

Closed MKerner3 closed 2 years ago

MKerner3 commented 2 years ago

Description

This PR does the following:

Subscribes to /ground_truth/state_raw for raw ground truth data
Creates an odom message from the raw data and publishes it to /ground_truth
Updates tf with the new data

Fixes #4

Testing Steps

Test Case 1

colcon build
. install/setup.bash
ros2 launch urc_gazebo simulation.launch.py
Open new terminal, ros2 topic list or just ros2 topic echo /ground_truth

Expectation: /odometry/filtered , /ground_truth/state_raw and /ground_truth topics appear /ground_truth successfully echoes published data

Self Checklist

[x] I have formatted my code using ament_uncrustify --reformat
[x] I have tested that the new behavior works