This pull request allows the user to enter waypoints in LLA coordinates instead of just NED waypoints.
A field was added to the Waypoint.msg file to determine if the entered waypoint was in LLA or NED. It is required to be added in the mission .yaml files, but no check is made in the code when calling the add_waypoint service, since the field is automatically populated if the user did not enter it in when calling the service.
Output info streams were added to help the user know what the path planner is doing before and after adding waypoints.
bsutherland333
commented
3 months ago
This pull request allows the user to enter waypoints in LLA coordinates instead of just NED waypoints.
A field was added to the
Waypoint.msgfile to determine if the entered waypoint was in LLA or NED. It is required to be added in the mission .yaml files, but no check is made in the code when calling theadd_waypointservice, since the field is automatically populated if the user did not enter it in when calling the service.Output info streams were added to help the user know what the path planner is doing before and after adding waypoints.