Added LIO and local goalpose support#26
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k-shenbagaraj wants to merge 1 commit intoKumarRobotics:ros2from
Open
Added LIO and local goalpose support#26k-shenbagaraj wants to merge 1 commit intoKumarRobotics:ros2from
k-shenbagaraj wants to merge 1 commit intoKumarRobotics:ros2from
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jhughes50
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Apr 23, 2026
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- topic name should be remapped in the launch file not set here.
- origin can be set online based on the first gps point, I think that would be easier than setting it here, I was just doing this for viz.
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Why does the offset happen in the converter, seems like an odd place for it
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The odometry is never rotated into the ENU frame. Frame translations should happen here in glider.cpp
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I'm confused why factors are being added when we add the odometry, factors should be added before we optimize which is when we add gps factors.
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- Don't we want the heading from the dgps? that what
dfixtopic has in it - should
gps_goal_sub_be a service rather than a subscriber
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