Feature/enu frame

[rikba]

One approach to publish a position in ENU frame. Does not implement enu with covariance, yet.

• Every receiver owns a geotf handler
• This geotf handler has an ENU frame that can be set through a service either
  • To a defined position
  • To the current position
  • To the base station position (not tested)

#125 and ethz-asl/geodetic_utils#40 should be merged first. Addresses ENU publishing in #102.

[rikba]

Ready to review @michaelpantic

[michaelpantic]

Not that this is likely to happen, but could lead to confusion - what would happen if someone configures some other frame as 4978 as ecef in the rosparams? then this would fail and return weird results.

Maybe we could check return value of addFrameByEPSG (https://github.com/ethz-asl/geodetic_utils/blob/master/geotf/src/geodetic_converter.cc#L90), it gives false if the frame is already defined and output an error?

[rikba]

Thanks, good catch!

[michaelpantic]

See comment about frame definitions (not so important but could be confusing if it ever happens, as some frames have multiple definitions, e.g. there are different ECEF frames)

otherwise great !!