Switch from vio_pos_vel to pos_vel broke transformation publishing

[alexanderkoumis]

Commit 0fc2789 introduced the following change:

-void SnavInterface::UpdateVIOMessages(tf2::Quaternion q)
+void SnavInterface::UpdatePosVelMessages(tf2::Quaternion q)
 {
-  // -------------------------------
-  // -- VIO TFs and Pose Messages --
-  // -------------------------------
-  tf2::Transform vio_tf(tf2::Transform(q, tf2::Vector3(cached_data_->vio_pos_vel.position_estimated[0],
-                                                       cached_data_->vio_pos_vel.position_estimated[1],
-                                                       cached_data_->vio_pos_vel.position_estimated[2])));
-
-  // The tf tree must maintain a strict tree structure.  As such, base_link cannont have multiple parents.
-  // If you want to use (for example) GPS and VIO at the same time, you must choose one of them to be the
-  // parent of base_link.  This is done throught the root_tf_frame param.  The other potential base_link parents
-  // (for example gps and optic flow) will have their transform inverted such that base_link is their parent
-  if(!vio_is_root_tf_)
-    {
-      vio_tf = vio_tf.inverse();
-      vio_transform_.child_frame_id = vio_frame_;
-      vio_transform_.header.frame_id = base_link_frame_;
-    }
-  else
-    {
-      vio_transform_.child_frame_id = base_link_frame_;
-      vio_transform_.header.frame_id = vio_frame_;
-    }
+  tf2::Transform est_tf(tf2::Transform(q, tf2::Vector3(
+          cached_data_->pos_vel.position_estimated[0],
+          cached_data_->pos_vel.position_estimated[1],
+          cached_data_->pos_vel.position_estimated[2])));

Now when running this node, the transformation information from the /pose topic is always (0, 0, 0). When I populate est_tf with vio_pos_vel.position_estimated instead of pos_vel.position_estimated, valid transformation data is output.

Why is pos_vel not being populated (and vio_pos_vel is)? Is there an initialization step I am missing?

Thanks.

[mikeshomin]

I believe this was a bug in a previous version of Snapdragon Navigator. Can you try using 1.2.53.1 and let me know if this bug persists?

https://developer.qualcomm.com/hardware/qualcomm-flight/qualcomm-navigator/tools

Also, sorry for the late reply.