Spawner and vio upgrade - Githubissues

ctu-mrs / mrs_simulation

The ROS part of the "simulation" package.

https://github.com/ctu-mrs/simulation

BSD 3-Clause "New" or "Revised" License

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Spawner and vio upgrade #15

Closed stibipet closed 3 years ago

stibipet commented 3 years ago

MRS Drone Spawner

Improved overall robot spawning rate
mrs_drone_spawner now publishes diagnostics
Added a process queue to the drone spawner. Simultaneously called spawn commands are now queued and executed sequentially when the resources are available
mrs_simulation now has to be built with catkin because of the new diagnostics message

VIO

added a xacro block to insert IMU with custom properties
vio block now properly uses individual blocks for imu and fisheye (redundant sensor definitions removed)
vio topics and frames have changed