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Pr/estimate/vo/world offset #593

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Pr/estimate/vo/world offset #593

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tongtybj
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What is this

Refactor the calculation of the offset from the world frame (e.g., mocap frame) to the origin frame of visual odometry.

Details

  • Assume that both the world frame and the origin frame of vo are level, then the roll/pitch
  • Introduce a new frame called baselink_dash, which has the same origin with baselink frame, but the frame are level.
  • Publish the static tf for this offset.

@tongtybj
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Merged by #601

@tongtybj tongtybj closed this Apr 13, 2024
@tongtybj tongtybj deleted the PR/estimate/vo/world_offset branch November 2, 2024 16:14
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