don't publish from gps callback

jhughes50 · jhughes50 · commit d2e9a83d6ff2 · 2025-10-21T12:02:06.000-04:00
diff --git a/glider/config/glider-params.yaml b/glider/config/glider-params.yaml
@@ -10,7 +10,7 @@ imu:
 gps: 
   covariance: 2.0
 dgpsfm:
-  enable: false
+  enable: true
   integration_threshold: 1.0
   covariance: 0.03
 constants:
diff --git a/glider/ros/glider_node.cpp b/glider/ros/glider_node.cpp
@@ -126,10 +126,6 @@ void GliderNode::gpsCallback(const sensor_msgs::msg::NavSatFix::ConstSharedPtr m
     glider_->addGps(timestamp, gps);
 
     current_state_ = glider_->optimize(timestamp);
-    if (current_state_.isInitialized())
-    {
-        (publish_nsf_) ? publishNavSatFix(current_state_) : publishOdometry(current_state_);
-    }
 }
 
 void GliderNode::odomCallback(const nav_msgs::msg::Odometry::ConstSharedPtr msg)

Original file line number	Diff line number	Diff line change
`@@ -126,10 +126,6 @@ void GliderNode::gpsCallback(const sensor_msgs::msg::NavSatFix::ConstSharedPtr m`
`126`	`126`	`glider_->addGps(timestamp, gps);`
`127`	`127`
`128`	`128`	`current_state_ = glider_->optimize(timestamp);`
`129`		`- if (current_state_.isInitialized())`
`130`		`- {`
`131`		`- (publish_nsf_) ? publishNavSatFix(current_state_) : publishOdometry(current_state_);`
`132`		`- }`
`133`	`129`	`}`
`134`	`130`
`135`	`131`	`void GliderNode::odomCallback(const nav_msgs::msg::Odometry::ConstSharedPtr msg)`