search

hmakelin / gisnav

Estimates airborne drone global position by matching video to map retrieved from onboard GIS server.
https://hmakelin.github.io/gisnav
MIT License
47 stars 19 forks source link

Use decorators for ROS boilerplate #50

Closed hmakelin closed 1 year ago

hmakelin commented 1 year ago

Declutters checking for Nones and other types in node computed properties, subscribing and publishing to topics. Makes it easier to see what is coming into and leaving a Node, and what gets transformed.

This pull request applies changes to AutopilotNode and BBoxNode only, but will focus next on refactoring the other nodes.