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optical flow sensor pipeline overhaul

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- all sources of optical flow publish sensor_optical_flow
 - sensor_optical_flow is aggregated by the sensors module, aligned with integrated gyro, and published as vehicle_optical_flow

Co-authored-by: alexklimaj <alex@arkelectron.com>
This commit is contained in:
Daniel Agar
2022-06-20 20:56:56 -04:00
co-authored by alexklimaj
parent 32544452f0
commit d5839e2dd5
49 changed files with 1415 additions and 634 deletions
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msg/vehicle_optical_flow_vel.msg
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uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
float32[2] vel_body # velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s)
float32[2] vel_ne # same as vel_body but in local frame (m/s)
float32[2] flow_uncompensated_integral # integrated optical flow measurement (rad)
float32[2] flow_compensated_integral # integrated optical flow measurement compensated for angular motion (rad)
float32[3] gyro_rate # gyro measurement synchronized with flow measurements (rad/s)
float32[3] gyro_rate_integral # gyro measurement integrated to flow rate and synchronized with flow measurements (rad)
# TOPICS estimator_optical_flow_vel vehicle_optical_flow_vel