Invalid odometry while fusion engine is running

[grizzi]

Bug description

Since the latest release (v7.0.1) we have noticed that quite often an invalid ECEF position is sent over ros (position = 0 0 0 , quaternion = 0 0 0 1). In the past we have had a similar problem but often during boot or before finding the fix, not after the start and a correct functioning of the fusion engine.

This is particularly problematic, since after the start of the fusion engine, we start navigation based on fixposition odometry. As this gets bad, this is equivalent to loose positioning and we have to stop the currently running navigation pipeline and restart the sensor.

Sensor info

• Product: Vision-RTK 2
• Hardware: fp-a87b1c (nav-vr2 1.2b)
• Software: fp_vrtk2-release-vr2_2.85.3-354