The usbl_position node transforms an USBL relative position into a world NED reference frame, to be launched in the ground station. The usbl_projction node updates an USBL delayed measurement using odometry estimations, to be launched in the AUV.
sudo apt-get install ros-melodic-pose-cov-ops
In the CmakeLists.txt replace: auv_msgs for cola2_msgs utils for cola2_lib
In usbl_position.cpp replace: #include "auv_msgs/NavSts.h" for #include "cola2_msgs/NavSts.h" #include "utils/ned.h" for #include <cola2_lib/utils/ned.h>