bdaiinstitute / spot_ros2 / 12415608651

52%

Build Type

push

github

Committed by web-flow

Commit Message

[SW-1764] allow use of preferred_odom_frame parameter (#538)

## Change Overview

The `preferred_odom_frame` parameter is supposed to let you chose whether "odom" (default) or "vision" frame is used as the base frame in the `/odometry` topic. On main right now this is hardcoded to "odom" in the launchfile

This PR allows you to actually change this parameter. It also introduces some logic to deal with getting the velocity of the body in either the "odom" or "vision" frame, depending on which choice is selected. There is also some minor launchfile cleanup here. 

related to: https://github.com/bdaiinstitute/spot_ros2/issues/29, and takes a lot of work from https://github.com/bdaiinstitute/spot_ros2/pull/416

## Testing Done

- [x] default launch: nothing changes, and "SpotName/odom" is the parent frame in `/SpotName/odometry` topic
- [x] with `preferred_odom_frame: "vision"` parameter set via config file: "vision" is the parent frame in `/SpotName/odometry` 
- [x] modified unit tests to test cases of getting body velocity in the vision frame

Run Details

12 of 12 new or added lines in 2 files covered. (100.0%)

1 existing line in 1 file now uncovered.

1952 of 3808 relevant lines covered (51.26%)

19.67 hits per line