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ANYbotics / elevation_mapping

Robot-centric elevation mapping for rough terrain navigation
BSD 3-Clause "New" or "Revised" License
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Turtlebot3 waffle posewithCovariance #115

Open Martygp95 opened 4 years ago

Martygp95 commented 4 years ago

Hi I have a simple question; why in the turtlebot3 branch, in the tf_to_pose_publisher.py, we obtain a pose with zero covariance as an input of the algorithm? The algorithm should be able to handle with pose uncertainity of the robot, isn't it?

maximilianwulf commented 4 years ago

The algorithm is explicitly designed to properly propagate pose uncertainties. Since the turtlebot3 example has perfect pose information because it is a simulation, the pose has therefore zero covariance.

Chapter 3 of the corresponding PhD thesis excellently explains the details of the algorithm.