rikba/odometry_transformer

A ROS package to transform odometry messages between different robot coordinate frames.

odometry_transformer's Issues

Transform covariance matrix

At the moment the transformer does not transform the covariance matrix. See https://github.com/ethz-asl/ethz_piksi_ros/blob/master/piksi_multi_cpp/src/sbp_callback_handler/sbp_callback_handler_relay/ros_enu_relays.cc#L74-L75 for a starting point.

Twist in parent or body frame?

Does this code assume that the twist is in the child/body frame rather than the parent/world/inertial frame?

https://github.com/rikba/odometry_transformer/blob/main/src/odometry_transformer.cc#L185-L193

I think the answer to 'not sure if this is necessary' is that it needs to be optional via a ros param, the odometry source could be either- for example I have two different imu+gps devices that publish odometry and one is publishing twist in the odom frame, the other in the base_link frame. (It seems like the best convention would be the body frame where linear x is saying how fast a vehicle is moving forwards regardless of what the heading is but that's not generally agreed upon, or there should be an enum field in the Odometry message to specify which convention is in use)

There could be second param to specify output twist frame as well, this node could be useful transforming into the same frame but just doing a twist convention conversion.