Feature Type
Adding new functionality to the project
Problem Description
The current implementation publishes the state information using the marine_msgs DVL message. This should continue to be used. However, this message is not accepted by various estimators supported by ROS.
Feature Description
Create a new second publisher, which publishes the velocity estimates transformed into the appropriate coordinate frame and as a TwistWithCovarianceStamped. This will ensure that estimators such as the robot_localization and fuse can interpret the message.
Alternative Solutions
I need to verify that the model used by fuse will accept this message type. The message type supported by fuse should be preferred over the robot_localization message type as the robot_localization package has been deprecated in favor of fuse.
Additional Context
No response
Feature Type
Adding new functionality to the project
Problem Description
The current implementation publishes the state information using the
marine_msgsDVL message. This should continue to be used. However, this message is not accepted by various estimators supported by ROS.Feature Description
Create a new second publisher, which publishes the velocity estimates transformed into the appropriate coordinate frame and as a
TwistWithCovarianceStamped. This will ensure that estimators such as therobot_localizationandfusecan interpret the message.Alternative Solutions
I need to verify that the model used by fuse will accept this message type. The message type supported by fuse should be preferred over the robot_localization message type as the robot_localization package has been deprecated in favor of fuse.
Additional Context
No response