Who not publishing pose covariance?

[fx815]

I see in

pronto/pronto_ros/include/pronto_ros/ros_frontend.hpp

Line 412 in e6aae29

// TODO insert appropriate covariance into the message

that covariance matrix of the pose states is not filled is, which head_cov should have the covariacne matrix for pose and chi. Is there any specific reason why the convariance matrix from the head_cov is not used here to populate the posewithcovariancestamped message?

[mcamurri]

Hi @fx815 there is no specific reason (except lack of resources to finish this feature).
You are welcome to implement the extraction of the covariance from head_cov to fill the message and open a PR 😄