Integrate a pose initialization mechanism for ndt localization and remove the existing hacks.
!262 (merged) adds a hack to feed the starting position of the robot to the ndt localizer by adding a known map->odom
transform to the localizer's frame graph.
This mechanism should be removed and initialization must be done as described in the localization design document.
Definition of Done
-
The navsat_transform_node
is added to the ms3 launch file and computes the pose of the base link in the/map
frame based on the/gnss/fix
message and publishes the result to the/localization/initialpose
topic -
Remove the hack introduced in !537 (merged) and have the State Estimator accept a GNSS measurement in the /map
frame which it then uses to publish the TF (the localizer shouldn't be publishing this directly) that the localizer can use for re-initialization.
Edited by Jeffrey Kane Johnson