Made this compatible with MSF by publishing an additional PointStamped message, after converting the lat/lons on NavSatFix messages to an ENU frame.
gps_conversion also now publishes a filtered_gps NavSatFix topic by re-converting MSF's odometry output to lat/lons (for convenience).
For this I incorporated a small NED library with "inverses" and other functions not available before these changes.
Eventually we should just move all these geodetic functions to a library, right now the code is replicated in up to 3 different repos in ethz-asl.
Also, gps_conversion now waits for the reference parameters to be initialized before it starts publishing conversions.
Made this compatible with MSF by publishing an additional PointStamped message, after converting the lat/lons on NavSatFix messages to an ENU frame.
gps_conversion also now publishes a filtered_gps NavSatFix topic by re-converting MSF's odometry output to lat/lons (for convenience). For this I incorporated a small NED library with "inverses" and other functions not available before these changes.
Eventually we should just move all these geodetic functions to a library, right now the code is replicated in up to 3 different repos in ethz-asl.
Also, gps_conversion now waits for the reference parameters to be initialized before it starts publishing conversions.