Rtk filtering offset #667
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Rtk filtering offset #667
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…into rtk_filtering_offset
…into rtk_filtering_offset
rbridges12
requested changes
Mar 21, 2024
| self.gps_has_timeout = True | ||
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| if self.imu_has_timeout == True: | ||
| rospy.signal_shutdown("Both IMU and GPS have timed out") |
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why do we shutdown the node when both time out?
| self.imu_has_timeout = True | ||
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| if self.gps_has_timeout == True: | ||
| rospy.signal_shutdown("Both IMU and GPS have timed out") |
| right_gps_sub : rospy.Subscriber | ||
| left_rtk_fix_sub: rospy.Subscriber | ||
| right_rtk_fix_sub: rospy.Subscriber | ||
| sync_gps_sub: rospy.Subscriber |
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is this the right type?
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| if (right_rtk_fix_msg.RTK_FIX_TYPE == RTKStatus.RTK_FIX and left_rtk_fix_msg.RTK_FIX_TYPE == RTKStatus.RTK_FIX): | ||
| self.rtk_offset = quaternion_multiply(gps_yaw_quat, quaternion_conjugate(imu_yaw_quat)) | ||
| imu_without_yaw = quaternion_multiply(quaternion_conjugate(imu_yaw_quat), imu_quat) |
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I think we can get rid of this and just make the else statement happen no matter what
qhdwight
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Summary
Closes #(Your issue number here)
What features did you add, bugs did you fix, etc?
Did you add documentation to the wiki?
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Summarize how you tested this code. Your objective here is to prove to the reviewers that this code actually works without them having to run it themselves. It is often helpful to include screenshots, tables, graphs, and/or a short write-up of testing procedures. Results can be either from sim, the robot, or both depending on what you think is sufficient for the feature you added.
Did you test this in sim?
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Did you test this on the rover?
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Did you add unit tests?
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