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[WIP] Odometry Plugin review #707

Merged
merged 2 commits into from
May 9, 2017
Merged

[WIP] Odometry Plugin review #707

merged 2 commits into from
May 9, 2017

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TSC21
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@TSC21 TSC21 commented May 9, 2017

@jgoppert can you please test this and check if the current transforms work, using the mavros transform functions from frame_tf.h?

Still TODO:

  • Create Covariance6d and Covariance9d and respective frame transforms
  • Maybe we can use a derivative of the velocity and send it in the msg as the accel? Maybe send it from rtabmap code in a geometry_msgs::Vector3 msg and apply message_filters to sync the odom msg with the accel one?

@TSC21 TSC21 requested a review from jgoppert May 9, 2017 12:02
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Looks good, thanks!

@jgoppert jgoppert merged commit 2bf8e92 into mavlink:odom May 9, 2017
@TSC21 TSC21 deleted the odom_review branch May 9, 2017 13:31
@vooon vooon added this to the Version 0.20 milestone May 9, 2017
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3 participants