search

Robotic-Decision-Making-Lab / angler

ROS 2 framework for lightweight autonomous underwater vehicle manipulator systems
https://robotic-decision-making-lab.github.io/angler/
MIT License
11 stars 1 forks source link

[FEATURE]: Publish odometry to /mavros/odom/out #9

Closed evan-palmer closed 1 year ago

evan-palmer commented 1 year ago

Feature Type

Changing existing functionality in Angler

Problem Description

The existing motion capture localizer only forwards the estimated position of the vehicle without calculating the estimated velocity; however, if the motion capture system is accurate and streams at a high frequency, it may be useful to also calculate the estimated velocity.

Feature Description

Calculate the velocity of the vehicle and publish an estimated Odometry message rather than only the estimated position.

Alternative Solutions

No response

Additional Context

No response

evan-palmer commented 1 year ago

This is stale now that the localization package has been moved.