Pr/estimate/vo/world offset

jsk-ros-pkg / jsk_aerial_robot

The platfrom for aerial robot (e.g. general multirotor, hydrus, di, dragon, etc)

http://www.jsk.t.u-tokyo.ac.jp/index-j.html

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Closed tongtybj closed 7 months ago

tongtybj commented 9 months ago

Refactor the calculation of the offset from the world frame (e.g., mocap frame) to the origin frame of visual odometry.

Assume that both the world frame and the origin frame of vo are level, then the roll/pitch
Introduce a new frame called baselink_dash, which has the same origin with baselink frame, but the frame are level.
Publish the static tf for this offset.

tongtybj commented 7 months ago