Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Bugfix/update map origin with home position #1892

Merged
merged 4 commits into from
Sep 6, 2023
Merged

Bugfix/update map origin with home position #1892

Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
bdfb190
Update map origin with home position
wico-molina Aug 29, 2023
f1387c7
Uncrustify
wico-molina Aug 29, 2023
9b7e27a
Revert "Uncrustify"
wico-molina Aug 29, 2023
4cd211c
Change to relative topic
wico-molina Sep 6, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 3 additions & 1 deletion mavros/src/plugins/global_position.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,7 @@ class GlobalPositionPlugin : public plugin::PluginBase {

GlobalPositionPlugin() : PluginBase(),
gp_nh("~global_position"),
hp_nh("~home_position"),
tf_send(false),
use_relative_alt(true),
is_map_init(false),
Expand Down Expand Up @@ -89,7 +90,7 @@ class GlobalPositionPlugin : public plugin::PluginBase {

// home position subscriber to set "map" origin
// TODO use UAS
hp_sub = gp_nh.subscribe("home", 10, &GlobalPositionPlugin::home_position_cb, this);
hp_sub = hp_nh.subscribe("home", 10, &GlobalPositionPlugin::home_position_cb, this);

// offset from local position to the global origin ("earth")
gp_global_offset_pub = gp_nh.advertise<geometry_msgs::PoseStamped>("gp_lp_offset", 10);
Expand All @@ -108,6 +109,7 @@ class GlobalPositionPlugin : public plugin::PluginBase {

private:
ros::NodeHandle gp_nh;
ros::NodeHandle hp_nh; //node handler in home_position namespace

ros::Publisher raw_fix_pub;
ros::Publisher raw_vel_pub;
Expand Down