Feature Request MBR Header/TF Frame

[valschmidt]

This feature request is to add to the MBR node the ability to configure the antenna's installation offsets relative to the "base_link" of the platform, and to capture these in the MBR header frame_id field.

Rational: Within the MBR log data are the range, azimuth and declination wrt the antenna base of the beam formed by the radio during the last time cycle. Configuring these things in the node should allow us to use the TF tree to calculate the these fields wrt the map frame. Knowing this will help inform modeling of this system performance both in real time and in post-mortem.

Follow on: Using the configured frame_id and TF calculate the azimuth and declination between antennas in the map frame and publish this on a topic.

[rolker]

Good idea!

To get the frame_id field, we'll need to create a message type with a header, since we are now using standard floats without a header.

We can start by creating a new message type, and supporting both floats and the new type as we test.