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mavlink / mavros

MAVLink to ROS gateway with proxy for Ground Control Station
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gps_global_origin: remove LLA to ECEF conversion #1942

Closed beniaminopozzan closed 3 weeks ago

beniaminopozzan commented 2 months ago

GPS_GLOBAL_ORIGIN MAVLink message is published in ROS on the topic mavros/global_position/gp_origin with type geographic_msgs::GeoPointStamped. This message contains https://docs.ros.org/en/api/geographic_msgs/html/msg/GeoPoint.html and expects

Geographic point, using the WGS 84 reference ellipsoid.

However the messages are published in ECEF coordinates.

This PR removes such conversion matching message requirements and message contents.

FIX https://github.com/mavlink/mavros/issues/1381