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ethz-asl / asctec_mav_framework

Framework for data aquisition and position control to be used with the highlevel processor of Ascending Technologies helicopters
http://www.ros.org/wiki/asctec_mav_framework
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Feature/upgraded gps referencing #51

Closed enricgalceran closed 8 years ago

enricgalceran commented 8 years ago

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.

enricgalceran commented 8 years ago

@markusachtelik Merging this.