Rock is using NWU as its global reference frame, but UTM is ENU. Ideally, the new GPS implementation should offer a NWU-compatible output. This is what this PR is about.
Methods are now clearly tagged with either UTM or NWU, depending on what they do. The origin is applied only on the NWU case, since it really is the pose that should be used by the Rock system.
g-arjones
commented
7 years ago
Rock is using NWU as its global reference frame, but UTM is ENU. Ideally, the new GPS implementation should offer a NWU-compatible output. This is what this PR is about.
Methods are now clearly tagged with either UTM or NWU, depending on what they do. The origin is applied only on the NWU case, since it really is the pose that should be used by the Rock system.
https://github.com/Brazilian-Institute-of-Robotics/drivers-orogen-ecomm_board/pull/8 should be applied together with it