global_position: update pose and twist to odom msg #360
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| @@ -68,8 +68,7 @@ class GlobalPositionPlugin : public MavRosPlugin { | |||
|
|
|||
| // fused global position | |||
| gp_fix_pub = gp_nh.advertise<sensor_msgs::NavSatFix>("global", 10); | |||
| gp_pos_pub = gp_nh.advertise<geometry_msgs::PoseWithCovarianceStamped>("local", 10); | |||
| gp_vel_pub = gp_nh.advertise<geometry_msgs::TwistStamped>("gp_vel", 10); | |||
| gp_odom_pub = gp_nh.advertise<nav_msgs::Odometry>("local", 10); | |||
There was a problem hiding this comment.
Maybe name it "odom"? Users will confused on topic type change.
There was a problem hiding this comment.
Well turns out to gives us local position. This is just to have congruence with global, which gives the fix topic. What do you think?
There was a problem hiding this comment.
Anyhow, from what I know, no one is using data from this topic yet (fused gps data), so maybe we can keep it (also so we can then calculate the threshold from local_position/local).
|
@vooon does it lgtm? |
vooon
added a commit
that referenced
this pull request
Aug 4, 2015
global_position: update pose and twist to odom msg
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
No description provided.