External navigation interface

[GuillaumeLaine]

Contents:

• Local navigation interface
• Example usage node of local navigation interface
• Global navigation interface
• Example usage node of global navigation interface

Testing

• Flight tested by passing lat lon measurements to the global interface from vehicle_gps_position plus noise, and checking aux global position was fused in the EKF.
• Flight tested by passing 3D local position measurements to the local interface from vehicle_local_position plus noise, and checking external vision position was fused in the EKF.

Usage

Build, source, run local interface example node which uses the interface to send a sample estimate every 1s:

ros2 run example_local_navigation_cpp example_local_navigation_cpp

Similarly for global interface example node:

 ros2 run example_global_navigation_cpp example_global_navigation_cpp

[DanMesh]

This is off to a good start. I looked mostly at the local updates for now and left a few thoughts.

[DanMesh]

Great! Looking forward to some flight tests for validation 🛩️

[bkueng]

Nice work, I remarked a couple of smaller things.

[DanMesh]

The aux global position PR is merged, so this should be ready to go

[bkueng]

Can you either:

• move these into the class LocalPositionMeasurementInterface
• or make them more generally available by moving them into a common header frame.hpp? And then you could use a single enum.

Otherwise there will be a conflict if another component wants to define these as well.

[DanMesh]

I'll create a common header so that it's more widely available.
However, since they are slightly different, I'd be inclined to keep them as two separate enums.

[bkueng]

Let's get this in - I'm squashing the commits.

[DanMesh]

Great, thanks @bkueng!