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ECL reference frame alignment fix (#12771)

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* Fix EKF frame alignemen in ECL

* Remove empty lines

* Add initalization for ev_odom

* Only use yaw covariance for angErr

* Improve frame naming in comments

* Use copyTo

* Add aligned as suffix

* Add missing vehicle_visual_odometry_aligned
This commit is contained in:
kritz
2019-09-23 14:24:52 -04:00
committed by Kabir Mohammed
parent 412b44ff6e
commit 7427768e70
4 changed files with 60 additions and 23 deletions
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msg/vehicle_odometry.msg
+3 -2
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@@ -29,7 +29,8 @@ float32 y # East position
float32 z # Down position
# Orientation quaternion. First value NaN if invalid/unknown
float32[4] q # Quaternion rotation from NED earth-fixed frame to XYZ body frame
float32[4] q # Quaternion rotation from FRD body frame to refernce frame
float32[4] q_offset # Quaternion rotation from odometry reference frame to navigation frame
# Row-major representation of 6x6 pose cross-covariance matrix URT.
# NED earth-fixed frame.
@@ -55,4 +56,4 @@ float32 yawspeed # Angular velocity about Z body axis
# If angular velocity covariance invalid/unknown, 16th cell is NaN
float32[21] velocity_covariance
# TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry
# TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry vehicle_visual_odometry_aligned