From 16e57087a9005132e59369c041157f47cbf91fb4 Mon Sep 17 00:00:00 2001 From: Matej Petrlik Date: Sat, 21 Oct 2023 11:55:58 +0200 Subject: [PATCH] added rtk_garmin estimator --- config/public/estimators.yaml | 2 ++ config/public/transform_manager/transform_manager.yaml | 10 ++++++++++ 2 files changed, 12 insertions(+) diff --git a/config/public/estimators.yaml b/config/public/estimators.yaml index 9694630d..4cb6e891 100644 --- a/config/public/estimators.yaml +++ b/config/public/estimators.yaml @@ -8,6 +8,8 @@ mrs_uav_managers: address: "mrs_uav_state_estimators/GpsBaro" rtk: address: "mrs_uav_state_estimators/Rtk" + rtk_garmin: + address: "mrs_uav_state_estimators/RtkGarmin" aloam: address: "mrs_uav_state_estimators/Aloam" vio: diff --git a/config/public/transform_manager/transform_manager.yaml b/config/public/transform_manager/transform_manager.yaml index caf6d3d5..320c0a05 100644 --- a/config/public/transform_manager/transform_manager.yaml +++ b/config/public/transform_manager/transform_manager.yaml @@ -91,6 +91,16 @@ mrs_uav_managers: inverted: true # publish as inverted tf (the default for inverted mrs tf tree convention) republish_in_frames: [] # the odometry message will be transformed and republished in the specified frames + rtk_garmin: + odom_topic: "odom" # name of the topic (expects nav_msgs/Odometry topic type) + tf_from_attitude: # used for transforming velocities before full transform is available + enabled: true + attitude_topic: "attitude" # name of the attitude topic(expects geometry_msgs/QuaternionStamped topic type) + namespace: "estimation_manager/rtk_garmin" # the namespace of the topic (usually the node that publishes the topic) + utm_based: true # if true, will publish tf to utm_origin + inverted: true # publish as inverted tf (the default for inverted mrs tf tree convention) + republish_in_frames: [] # the odometry message will be transformed and republished in the specified frames + aloam: odom_topic: "odom" # name of the topic (expects nav_msgs/Odometry topic type) tf_from_attitude: # used for transforming velocities before full transform is available