swri-robotics / marti_common

Common utility functions for MARTI
BSD 3-Clause "New" or "Revised" License
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initialize_origin and origin_manager: add heading support #755

Open DangitBen opened 1 month ago

DangitBen commented 1 month ago

Neither initialize_origin.py nor origin_manager support a heading offset.

At least initialize_origin.py should be able to support this (maybe both) as it feeds the information to a swri_transform_util object with a LocalXyUtil that can support a heading offset.

I believe the message being published also supports and orientation, which should be populated with this information.