Removes arm-control logic from MabiLocalizer. Now the HAL routine advertises two services:
hal_take_measurement, that is expected to be called after the arm is moved, add takes laser measurements to be added to the factor graph, together with arm-odometry measurements;
high_acc_localize: performs the actual HAL routine, by optimizing over the factor graph. Returns the corrected robot-base pose in the world frame.
Removes arm-control logic from
MabiLocalizer
. Now the HAL routine advertises two services:hal_take_measurement
, that is expected to be called after the arm is moved, add takes laser measurements to be added to the factor graph, together with arm-odometry measurements;high_acc_localize
: performs the actual HAL routine, by optimizing over the factor graph. Returns the corrected robot-base pose in the world frame.