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ekf_filter_nodeに/odomと/imu/dataを渡してセンサフュージョンすることを想定しているが, ekf_filter_nodeの出力である/odometry/filteredには/imuの値が適応されておらず/odomと同じ値が出てしまっている.
白 : /odom
赤 : /odometry/filtered
![Screenshot from 2024-09-26…
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# Designing a Quaternion-Based EKF for Accelerometer, Gyroscope, & Magnetometer Fusion - Michael Wrona's Blog
[https://mwrona.com/posts/attitude-ekf/](https://mwrona.com/posts/attitude-ekf/)
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**Submitting author:** @JHartzer (Jacob Hartzer)
**Repository:** https://github.com/unmannedlab/ekf_cal/
**Branch with paper.md** (empty if default branch):
**Version:** 0.5
**Editor:** Pending
**Rev…
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### Description of task
To get better pose and velocity estimates, we can fuse the Nucleus measurements and the IMU measurements. The measurements from the Nucleus are given in an [INS](https://githu…
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### Link
https://ekfgroup.com/ru/catalog/products/umnyj-datchik-dyma-zigbee
### Database entry
{"id":2,"type":"EndDevice","ieeeAddr":"0x142d41fffe6866c0","nwkAddr":26372,"manufId":4098,"manufName":…
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Hello devs, thank you for your work.
Ive been using an old version of your filter (uNavINS) in arduino for a while and i just want to start using this version of the code. The problem I have is tha…
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This is essentially equivalent to natural gradient descent https://arxiv.org/abs/1703.00209
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Note to self:
Had to disable TMBad framework for easy access to "erf", but then mean estimation not supported, lacking support to newton::cfg. Disabled newton::cfg for both ekf and ukf.
-- FIXME…
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When I use the GPS data of the dataset, the following error occurs. How should I solve it? Does anyone understand?
[ERROR] [1726843140.213914157]: Client [/lio_sam_mapOptmization] wants topic /ublox_…