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Robotic-Decision-Making-Lab / blue

ROS 2 platform for underwater robotics research and development.
https://robotic-decision-making-lab.github.io/blue/
MIT License
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[FEATURE]: Publish odometry to /mavros/odom/out #19

Closed evan-palmer closed 1 year ago

evan-palmer commented 1 year ago

Feature Type

Changing existing functionality in the BlueROV2 driver

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

Going to close this for now as the external pose interface seems to be working pretty well.