Removing the localization filter from the maplab node as it's A) an untested part of the code and B) not very useful in the current flow of data.
At the moment the maplab node is simply map building and does not do full state estimation. Adding a single state filter for fusing localizations during map building does not provide more information, but simply muddies the original information. For online state estimation, use the maplab_server which provides a meaningful update of the state and past. For localization in a map use rovioli. The only clear benefit of the filter is that it fixes the base frame (and only relates to the latest localizations, not a global mission alignment). Removed for maintainability.
Side improvement is some clearing up of data types and TF publishing.
ethzasl-jenkins
commented
1 year ago
Removing the localization filter from the maplab node as it's A) an untested part of the code and B) not very useful in the current flow of data.
At the moment the maplab node is simply map building and does not do full state estimation. Adding a single state filter for fusing localizations during map building does not provide more information, but simply muddies the original information. For online state estimation, use the maplab_server which provides a meaningful update of the state and past. For localization in a map use rovioli. The only clear benefit of the filter is that it fixes the base frame (and only relates to the latest localizations, not a global mission alignment). Removed for maintainability.
Side improvement is some clearing up of data types and TF publishing.