1.) took Gazebo's simulated coordinates and passed them to vision_pose (put 'nodes' in your catkin folder). Used identity matrix for covariance for now.
2.) Replace ../Firmware/posix-configs/SITL/init/lpe/iris with the provided file. I changed some parameters so that you can immediately launch without starting gpssim and the LPE_FUSION would use vision estimation instead of GPS.
1.) took Gazebo's simulated coordinates and passed them to vision_pose (put 'nodes' in your catkin folder). Used identity matrix for covariance for now. 2.) Replace ../Firmware/posix-configs/SITL/init/lpe/iris with the provided file. I changed some parameters so that you can immediately launch without starting gpssim and the LPE_FUSION would use vision estimation instead of GPS.