To the imaging node file, I added the subscriber and call back for the drone's altitude, and the altitude is stored in the attributes.
Test Plan
we'll test it on the jetson before flight morning.
Issues
I did not put up a PR for this but the issue description was to figure out
1) how to get position covariance of the local position from mavros
2) find doc for what is contained in the altitude message ~mavros/altitude
"/mavros/local_position/odom" had a covariance matrix, but we decided to not pursue finding the position covariance.
Summary
To the imaging node file, I added the subscriber and call back for the drone's altitude, and the altitude is stored in the attributes.
Test Plan
we'll test it on the jetson before flight morning.
Issues
I did not put up a PR for this but the issue description was to figure out 1) how to get position covariance of the local position from mavros 2) find doc for what is contained in the altitude message ~mavros/altitude
"/mavros/local_position/odom" had a covariance matrix, but we decided to not pursue finding the position covariance.