ros2: update terrain_navigation_ros

- update relay from /mavros/set_point/global to /ap/cmd_gps_pose.

Signed-off-by: Rhys Mainwaring <[email protected]>

terrain_navigation_ros/scripts/global_postion_relay.py

@@ -33,11 +33,27 @@ def __init__(self):
     def global_position_cb(self, msg):
 
         pos_msg = GlobalPosition()
+        # header
         pos_msg.header = msg.header
         pos_msg.header.frame_id = "map"
+        # coordinate frame and type mask
+        pos_msg.coordinate_frame = msg.coordinate_frame
+        pos_msg.type_mask = msg.type_mask
+        # geodetic position (datum AMSL)
         pos_msg.latitude = msg.latitude
         pos_msg.longitude = msg.longitude
         pos_msg.altitude = msg.altitude
+        # velocity
+        pos_msg.velocity.linear.x = msg.velocity.x
+        pos_msg.velocity.linear.y = msg.velocity.y
+        pos_msg.velocity.linear.z = msg.velocity.z
+        # acceleration or force
+        pos_msg.acceleration_or_force.linear.x = msg.acceleration_or_force.x
+        pos_msg.acceleration_or_force.linear.y = msg.acceleration_or_force.y
+        pos_msg.acceleration_or_force.linear.z = msg.acceleration_or_force.z
+        # yaw rate
+        pos_msg.velocity.angular.z = msg.yaw_rate
+        # TODO: yaw (no corresponding member in GlobalPosition)
 
         self.pub.publish(pos_msg)