navsat_transform diagram to address #550 #570
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Signed-off-by: Mabel Zhang <mabel@openrobotics.org>
Signed-off-by: Mabel Zhang <mabel@openrobotics.org>
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I haven't forgotten about this. I have a major deadline this week, but will review it early next week. Thanks! |
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Thank you Tom. I had waited long enough myself to make the PR that waiting for the review is fair :) |
ayrton04
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Jun 5, 2020
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@SteveMacenski, if you agree, then feel free to merge. |
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* navsat_transform diagram to address #550 (#570) * add diagram for navsat_transform Signed-off-by: Mabel Zhang <mabel@openrobotics.org> * add diagram to tutorial Signed-off-by: Mabel Zhang <mabel@openrobotics.org> * Fix frame id of imu in differential mode, closes #482 * Added local Cartesian option to navsat_transform * Fix navsat_transform issue with starting on uneven terrain * Fix typo in navsat_transform_node.rst (#588) "prodives" -> "provides" * Fix sign error in dFY_dP in transfer function jacobian * Making repeated state publication optional (#595) * PR feedback * Fixing build issues * Fixing stamp issues * Linting and uncrustifying Co-authored-by: Mabel Zhang <mabel.m.zhang@gmail.com> Co-authored-by: Jeffrey Kane Johnson <jeff@mapless.ai>
Timple
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* navsat_transform diagram to address cra-ros-pkg#550 (cra-ros-pkg#570) * add diagram for navsat_transform Signed-off-by: Mabel Zhang <mabel@openrobotics.org> * add diagram to tutorial Signed-off-by: Mabel Zhang <mabel@openrobotics.org> * Fix frame id of imu in differential mode, closes cra-ros-pkg#482 * Added local Cartesian option to navsat_transform * Fix navsat_transform issue with starting on uneven terrain * Fix typo in navsat_transform_node.rst (cra-ros-pkg#588) "prodives" -> "provides" * Fix sign error in dFY_dP in transfer function jacobian * Making repeated state publication optional (cra-ros-pkg#595) * PR feedback * Fixing build issues * Fixing stamp issues * Linting and uncrustifying Co-authored-by: Mabel Zhang <mabel.m.zhang@gmail.com> Co-authored-by: Jeffrey Kane Johnson <jeff@mapless.ai>
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I finally read and understood everything in #550 and created a diagram with all the points taken.
Modifications from the original diagram in #550 (other than formatting):
local_odometryedge should not go from local EKF to global EKF, as Tim Clephas mentioned in the issue ticketnavsat_transform. This is consistent with Swift Nav's diagram too.local_odometryto/odometry/filtered/local, and global EKF's output to/odometry/filtered/global, to be uniform and clear. Also to align with EKF node's default output name.I added the source TeX file I used to generate the image, in case people need to modify it in the future. I don't know if anybody wants that in here. Let me know if I should throw it out.
I stuck the image in the Integrating with GPS tutorial. Seems the right place.
@clalancette