Issue on using ethzasl_sensor_fusion with HighLevel_EKF mode
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I did create a node that publishes a poseWithCovariance (/pose_custo) describing the pose of the pelican (computed using several sensors). The publish rate is about 15 Hz.
As far as I understand how works the asctec_mav_framework and ethzasl_sensor_fusion, it should manage to create a 1Khz fusion between IMU and my pose_custo topic. But this fusion is supposed to be processed on the HLP , so I don't really understand the point of using the ssf package.
However, I did follow the sFly tutorial for enabling PTAM/IMU pose estimation.
The pose_custo topic is maped to fcu/pose.
I also launched the node position_sensor as following: