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bsb808 / geonav_transform

Simple transforms for using GPS-based estimates for local odometry in ROS
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Adding option for a global data ROS parameter. #7

Closed bsb808 closed 3 years ago

bsb808 commented 3 years ago

For multiple geonav nodes (multiple robots) it is more robust to origin mismatch.

Example

  <rosparam param="/geonav_datum">[44.534038, -110.415622, 0.0]</rosparam>
  <node pkg="geonav_transform" type="geonav_transform_node" name="geonav_transform_node" clear_params="false" output="screen">
    <param name="odom_frame_id" value="geonav"/>
  </node>

Should be backwards compatible.

Also enforcing that the data be sent either locally or globally. There isn't really a use case were the datum should be (0, 0).