feat: robot loc in progress

EPFLXplore · Sep 5, 2024 · def2739 · def2739
1 parent 3f2ab85
commit def2739
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Showing 20 changed files with 2,811 additions and 35,971 deletions.
diff --git a/custom_msg b/custom_msg
diff --git a/localization/camera/ros2_aruco/ros2_aruco/pose_estimation_node.py b/localization/camera/ros2_aruco/ros2_aruco/pose_estimation_node.py
@@ -93,6 +93,7 @@ def timer_callback(self):
 
         odom_msg = Odometry()
         odom_msg.header.stamp = self.get_clock().now().to_msg()
+        odom_msg.header.frame_id = 'map'
         # odom_msg.pose.pose.position = Point(self.x_estimate, self.y_estimate, 0.0)
         odom_msg.pose.pose.position = Point(x=self.count, y=self.count, z=0.0)
         odom_msg.pose.pose.orientation = Quaternion(x=0.0, y=0.0, z=0.0, w=1.0)

diff --git a/localization/lidar/LIO-SAM b/localization/lidar/LIO-SAM
+5 −4		CMakeLists.txt
+1 −1		config/params.yaml
+73 −61		launch/run.launch.py