Cannot get TF between utm and map
What's the problem?
A TF is missing between map and utm, preventing the creation of a mission.
Possible solutions
Use frame-by-frame position_covariance
information on the /imu/gps/filtered
or /imu/nav_sat_fix
topic, for example by calculating a norm (matrix norm) and watching when this is below a threshold (to be estimated). When this norm is below the threshold, it means that the GPS has stabilized, and the corresponding frame can be used to define the TF between map
and utm
.
Edited by Antoine DOMINGUES