odom_estimator: small ECEF coordinate updates (#1211)

* odom_estimator: Log where the starting ECEF coordinates are based from upon startup, switch default coords to Gainesville for summer testing

* do the cool nice looking spacing

SubjuGator/command/subjugator_launch/launch/subsystems/odometry.launch

@@ -5,14 +5,15 @@
         have_gps: false
         local_frame: map
         # Handly tool for making these https://www.oc.nps.edu/oc2902w/coord/llhxyz.htm?source=post_page
-        # Gainesville
-        #start_x_ecef:   738543
-        #start_y_ecef: -5498316
-        #start_z_ecef:  3136465
+        start_name:                  Gainesville
+        start_x_ecef:                     738543
+        start_y_ecef:                   -5498316
+        start_z_ecef:                    3136465
         # Sandiego (Transdec) (Used in Gazebo) Lat Long: 32.703412, -117.250474 Height: 50m (ish)
-        start_x_ecef: -2459903
-        start_y_ecef: -4776100
-        start_z_ecef: 3426354
+        # start_name:       San Diego (Transdec)
+        # start_x_ecef:                 -2459903
+        # start_y_ecef:                 -4776100
+        # start_z_ecef:                  3426354
       </rosparam>
       <remap from="odom" to="imu_odom" />
    </node>

mil_common/gnc/odom_estimator/src/nodelet.cpp

@@ -87,6 +87,10 @@ class NodeImpl
     private_nh.getParam("start_z_ecef", start_z_ecef);
     private_nh.getParam("local_frame", local_frame);
 
+    std::string start_name;
+    private_nh.getParam("start_name", start_name);
+    ROS_INFO_STREAM("odom_estimator: Using start coordinates at " << start_name);
+
     imu_sub = nh.subscribe<sensor_msgs::Imu>("imu/data_raw", 10, boost::bind(&NodeImpl::got_imu, this, _1));
     mag_filter.registerCallback(boost::bind(&NodeImpl::got_mag, this, _1));
     dvl_filter.registerCallback(boost::bind(&NodeImpl::got_dvl, this, _1));