removed aloam estimator (will be available as separated plugin in

mrs_aloam_core metapackage)
ctu-mrs · Oct 25, 2023 · b4e11e2 · b4e11e2
1 parent 586c6af
commit b4e11e2
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -35,7 +35,6 @@ set(Eigen_LIBRARIES ${Eigen_LIBRARIES})
 
 set(LIBRARIES
   MrsUavStateEstimators_Common
-  MrsUavStateEstimators_Aloam
   MrsUavStateEstimators_GpsGarmin
   MrsUavStateEstimators_GpsBaro
   MrsUavStateEstimators_Rtk
@@ -134,23 +133,6 @@ add_dependencies(MrsUavStateEstimators_GpsBaro
   ${PROJECT_NAME}_gencfg
   )
 
-add_library(MrsUavStateEstimators_Aloam
-  src/estimators/state/aloam.cpp
-  )
-
-target_link_libraries(MrsUavStateEstimators_Aloam
-  MrsUavStateEstimators_Common
-  ${catkin_LIBRARIES}
-  ${Eigen_LIBRARIES}
-  )
-
-## Add configure headers for dynamic reconfigure
-add_dependencies(MrsUavStateEstimators_Aloam
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-  ${PROJECT_NAME}_gencfg
-  )
-
 add_library(MrsUavStateEstimators_HectorGarmin
   src/estimators/state/hector_garmin.cpp
   )

diff --git a/config/private/aloam/aloam.yaml b/config/private/aloam/aloam.yaml
diff --git a/config/private/aloam/alt_aloam.yaml b/config/private/aloam/alt_aloam.yaml
diff --git a/config/private/aloam/hdg_aloam.yaml b/config/private/aloam/hdg_aloam.yaml
diff --git a/config/private/aloam/lat_aloam.yaml b/config/private/aloam/lat_aloam.yaml
diff --git a/config/public/aloam/aloam.yaml b/config/public/aloam/aloam.yaml
diff --git a/config/public/aloam/alt_aloam.yaml b/config/public/aloam/alt_aloam.yaml
diff --git a/config/public/aloam/hdg_aloam.yaml b/config/public/aloam/hdg_aloam.yaml
diff --git a/config/public/aloam/lat_aloam.yaml b/config/public/aloam/lat_aloam.yaml
diff --git a/estimator_plugins.xml b/estimator_plugins.xml
@@ -22,12 +22,6 @@
   </class>
 </library>
 
-<library path="lib/libMrsUavStateEstimators_Aloam">
-  <class name="mrs_uav_state_estimators/Aloam" type="mrs_uav_state_estimators::aloam::Aloam" base_class_type="mrs_uav_managers::StateEstimator">
-    <description>Aloam state estimator</description>
-  </class>
-</library>
-
 <library path="lib/libMrsUavStateEstimators_HectorGarmin">
   <class name="mrs_uav_state_estimators/HectorGarmin" type="mrs_uav_state_estimators::hector_garmin::HectorGarmin" base_class_type="mrs_uav_managers::StateEstimator">
     <description>HectorGarmin state estimator</description>

diff --git a/src/estimators/state/aloam.cpp b/src/estimators/state/aloam.cpp