Control manager generalization - Githubissues

ctu-mrs / mrs_uav_managers

High-level UAV managers in ROS, part of the "mrs_uav_core" package.

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

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

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Control manager generalization #4

Closed petrlmat closed 4 years ago

petrlmat commented 4 years ago

This PR fixes several issues preventing its use with custom (non MRS) odometry source and custom velocity controller.

Changelog:

Odometry innovation message for eland during wild estimation corrections is now optional
Body frame of published cmd_odom messages is now parametrized in launch file (in non MRS systems, the body frame is usually called base_link)
Publishing of the tracker's velocity state on topic cmd_twist_out to allow using external velocity controllers
Added a missing check of odometry type input
Fixed some typos