Add ROS interface to Indicator Value
ScottyChung opened this issue · comments
NDI systems typically provide an Indicator Value (ErrorRMS, Fit Value) which can be useful in noisy measurement environments. It looks like we capture this information, but currently don't provide a rostopic to capture it.
I'm happy to take a shot at it. Being new to the cisst interfaces and rosbridge, some guidance would be appreciated. It looks like we need to:
- Add ErrorRMS value to the StateTable
- Add interface to the tool "GetErrorRMS" (AddCommandRead?)
- Add publisher to the ros code (AddPublisherFromCommandRead ("GetErrorRMS")
Let me know if this is actually available already somewhere, I am missing something, or this seems like a reasonable approach.
This feature is not currently available but would be a nice addition. Your overall description of the code required is correct. If you provide a pull request I'll be happy to review and merge back to the origin/devel branch. Please note that users will have to rely on the timestamp to make sure they have the corresponding RMS error for a tool position at a given time. Also, would you mind doing a bit of digging in ROS to see if there is a "standard" message we could use to send the RMS error?