rename vehicle_visual_odometry_aligned -> estimator_visual_odometry_aligned #16060
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Yes, it is used to check if the coordinates frames and transformations are correct. Renaming it like this seems good. |
| @@ -62,5 +62,5 @@ float32 yawspeed # Angular velocity about Z body axis | |||
| # If angular velocity covariance invalid/unknown, 16th cell is NaN | |||
| float32[21] velocity_covariance | |||
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| # TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry vehicle_visual_odometry_aligned | |||
| # TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry | |||
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We are removing this but we keep it as an alias in uorb_rtps_message_ids.yaml? I am not sure what will be the result here
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The uorb_rtps_message_ids.yaml alias seems to be in place for most of the cases of multiple topics per uORB message (type). What's the intended purpose?
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It also means that an alias shares the same message structure as the base message, i.e. vehicle_visual_odometry_aligned shares the same structure as vehicle_odometry.
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But I guess this works, if the code generation doesn't complain.
I'm assuming
vehicle_visual_odometry_alignedonly exists for log review purposes (added in #12771)?Renaming this saves a small amount of work for the selector in mult-EKF mode and possibly makes the origin/purpose of each message a little clearer.