Closed petrlmat closed 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)
cmd_odom
base_link
Publishing of the tracker's velocity state on topic cmd_twist_out to allow using external velocity controllers
cmd_twist_out
Added a missing check of odometry type input
Fixed some typos
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 calledbase_link
)Publishing of the tracker's velocity state on topic
cmd_twist_out
to allow using external velocity controllersAdded a missing check of odometry type input
Fixed some typos