Feature/param for state frame

ethz-asl / ethzasl_msf

MSF - Modular framework for multi sensor fusion based on an Extended Kalman Filter (EKF)

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Feature/param for state frame #183

Closed marco-tranzatto closed 3 years ago

marco-tranzatto commented 3 years ago

PR adds possibility to specify TF frame of msf's output. Default is set to used hard-coded value "state". This is needed because ANYmal runs 2 MSFs: one with alphasense imu and one with body imu and therefore the 2 msf nodes were publishing 2 frames with the same name (state)

ethzasl-jenkins commented 3 years ago

Can one of the admins verify this patch?