Qualisys Car State Converter

This handy little node is located in the ros_tf_republisher package and aggregates the output of the qualisys topics in a car_state_cart message that can be used as a surrogate for ground truth data (as qualisys should be accurate enough without an additional state estimator). This can be useful if a controller should be run in real life while bypassing the estimator to reduce points-of-failure in the pipeline when testing or debugging.

Usage is pretty simple, if you can control whether the controller listens to the estimator or the car state converter using the bypass_estimator launch option in the run_single_car.launch file. If true, the controller runs using state "estimates" of the gt topic while it uses estimates of the estimator if set to false. The "ground truth" is published on CAR_NS/car_state_converter/gt_state.