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MAVLink to ROS gateway with proxy for Ground Control Station
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Feature: handle EKF_STATUS_REPORT msg #1739

Open clydemcqueen opened 2 years ago

clydemcqueen commented 2 years ago

Issue details

ArduPilot sends EKF_STATUS_REPORT rather than ESTIMATOR_STATUS. I would like to get this message in ROS.

I suppose the flags can be sent in a mavros_msgs/msg/EstimatorStatus.msg, but I would like to convert the entire EKF_STATUS_REPORT message to a ROS message.

Thoughts on this? Does this sort of thing go in mavros_extras?

Thanks.

MAVROS version and platform

Mavros: HEAD ROS: Galactic Ubuntu: 20.04

Autopilot type and version

[x] ArduPilot [ ] PX4

vooon commented 2 years ago

If it's possible to convert to EstimatorStatus.msg, then i believe it would be better to just extend sys_status plugin.

vooon commented 2 years ago

If not, then still probably better to put to sys_status.

Or maybe do a refactoring to extract estimator related things to a separate plugin.

clydemcqueen commented 2 years ago

Thanks for the suggestions. I will do some investigations and make a concrete proposal.