The fuse stack provides a general architecture for performing sensor fusion live on a robot. Some possible applications include state estimation, localization, mapping, and calibration.
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[RST-10727] Publish the start/stop status of the fixed-lag smoother #375
Now that it is possible to construct a fixed-lag smoother without immediately starting it, knowing the running state of the optimizer may be important for coordination with other nodes. Publish the start/stop state of the optimizer as a latched topic.
The status is currently being published as a std_msgs/Bool. I do wonder if I should add a dedicated message type to fuse_msgs and publish that instead? If we ever want to expand the status information in the future, having our own message type could make that easier. We would simply add new fields to the message, but we would continue to publish the same message type. Any thoughts?
Now that it is possible to construct a fixed-lag smoother without immediately starting it, knowing the running state of the optimizer may be important for coordination with other nodes. Publish the start/stop state of the optimizer as a latched topic.
The status is currently being published as a
std_msgs/Bool. I do wonder if I should add a dedicated message type tofuse_msgsand publish that instead? If we ever want to expand the status information in the future, having our own message type could make that easier. We would simply add new fields to the message, but we would continue to publish the same message type. Any thoughts?