CHANGELOG

Changelog for package magnetometer_compass

Use upstream tf2_sensor_msgs if it can already transform IMU messages.
Added support for out_frame_id to allow overwriting frame_id of transformed messages.
Added possibility to use wall time for declination computations. This can be useful in simulations which start in time 0 and you’re not really that much interested into correct declination values.
ROS 2 port.
Contributors: Adam Herold, Martin Pecka

Restructured the repo, created compass_conversions, magnetic_model and magnetometer_pipeline packages. The behavior of the compass nodelet should not change. The visualize_azimuth Python script was substituted by a C++ node with the same name and compatible behavior. The data directory with WMM was moved from magnetometer_compass to magnetic_model.
Contributors: Martin Pecka

Made use of cras_cpp_common’s node_from_nodelet CMake macro.
Removed imu_transformer workaround
Added option to force magnetic declination value.
Added visualization of azimuth.
Fixed IMU orientation covariance transformation.
Renamed magnetometer_compass package to compass.
Added variance to magnetometer compass outputs. It now also outputs fully valid georeferenced IMU messages instead of just writing the orientation into them.
Contributors: Martin Pecka