Merge branch 'devel' of...

Merge branch 'devel' of ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_ros/wolf_ros_gnss.git into devel

CMakeLists.txt

@@ -21,7 +21,7 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 ## System dependencies are found with CMake's conventions
-find_package(wolf REQUIRED)
+find_package(wolfcore REQUIRED)
 find_package(wolfgnss REQUIRED)
 
 ## Uncomment this if the package has a setup.py. This macro ensures
@@ -121,11 +121,11 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-message("Wolf include path: ${wolf_INCLUDE_DIR}")
+message("Wolf include path: ${wolfcore_INCLUDE_DIRS}")
 include_directories(
     include
   ${EIGEN_INCLUDE_DIRS}
-  ${wolf_INCLUDE_DIRS}
+  ${wolfcore_INCLUDE_DIRS}
   ${wolfgnss_INCLUDE_DIRS}
   ${gnss_utils_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
@@ -174,7 +174,7 @@ add_dependencies(subscriber_${PROJECT_NAME} novatel_oem7_msgs_generate_messages_
 
 ## Specify libraries to link a library or executable target against
 target_link_libraries(subscriber_${PROJECT_NAME}
-            ${wolf_LIBRARIES}
+            ${wolfcore_LIBRARIES}
             ${wolfgnss_LIBRARIES}
             ${iri_gnss_msgs_LIBRARIES}
             ${catkin_LIBRARIES}

src/publisher_gnss_accuracy.cpp

@@ -69,8 +69,8 @@ void PublisherGnssAccuracy::publishDerived()
     // 3D
     else
     {
-        new_cov = problem_->getCovarianceBlock(problem_->getLastKeyFrame()->getP(),
-                                               problem_->getLastKeyFrame()->getP(),
+        new_cov = problem_->getCovarianceBlock(problem_->getLastFrame()->getP(),
+                                               problem_->getLastFrame()->getP(),
                                                cov, 0, 0);
         WOLF_DEBUG_COND(not new_cov, "Last KF covariance could not be recovered, using the previous one");
     }