[#303] using lgsvl vehicle_odometry directly in lgsvl_interface
Description
Closes #303 (closed)
Notes for Reviewer
- I thought
/lgsvl/vehicle_odometry
might replace the otherlgsvl/gnss_odom
, but it would not as the pose only comes fromgnss_odom
. To reduce ambiguity, I renamed allnav_msgs
relatedodometry
tonav_odom
, and usedveh_odom
forvehicle_odometry
whenever possible. - Still using param for topic names, did not refactor that part, better to do that is a separate issue.
- The output odometry topic from
lgsvl_interface
as/odometry
is redundant to/lgsvl/vehicle_odometry
. I thought of disabling that output and directly remap/lgsvl/vehicle_odometry
to that and only consume the value and not republish. The design invehicle_interface
dictates publishing ofvehicle_odometry
as a minimum requirement, so did not remove that.
Checklist
-
Documentation was updated
/milestone %After AVP
Edited by Jit Ray Chowdhury