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[#972] Use GNSS input in the state estimation node

Description

This MR does a couple of things:

  • Uses the GNSS relative position message in the state estimation node
  • Introduces a rudimentary message conversion library.

Closes #972 (closed)

Notes for reviewer

I really don't like how we work with messages at this point regarding transforming them between frames but I don't see a good solution, so I am asking the reviewers to speculate with me on what issues they see with the current approach and what can be made better:

  • The state estimation node allows to specify the child_frame_id that we want the poses coming from the state estimation node to have. This has some issues:
    • Switching the child_frame_id is complicated
    • For messages like Odometry is only makes sense if there is a rigid transform between the old and the new child_frame_id, i.e., there is no speed between these frames.
    • Messages like pose or twist don't have the child_frame_id at all, so there is no good way to convert them. This is also related to #1033
  • If the state estimator would not be allowed to specify the child_frame_id then the user must ensure that all the messages have the same child_frame_id, which is again ill-posed as some of the messages don't even have this field and work on assumptions.

I don't see a good solution to this without changing all messages for now. What am I missing?

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Edited by Igor Bogoslavskyi

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