Adding publishing of an REP-105 compliant ECEF transform #948
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I should disclosed that AI was used in the creation of this patch... although, frankly, I don't know how much credit I want to give it; it did a pretty bad job at figuring out the transforms and I had to help it a lot. |
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Also, as far as testing, I actually did the work on Jazzy and tested there. If/when this review is accepted, I will also put up for review the push to the jazzy and kilted branches. |
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The navsat_transform_node can now publish an ecef earth frame. This is controlled using the parameters 'broadcast_earth_transform' and 'earth_frame_id'. Publishing the earth transform is only valid if use_local_cartesian is set to true.
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The navsat_transform_node can now publish an ecef earth frame.
This functionality can be enabled by setting 'broadcast_earth_transform' to true. The frame ID used for the earth transform can be customized using the
earth_frame_idparameter.Note, that publishing the earth transform is only valid if use_local_cartesian is set to true.