Flight tested by passing lat lon measurements to the global interface from vehicle_gps_position plus noise, and checking aux global position was fused in the EKF.
Flight tested by passing 3D local position measurements to the local interface from vehicle_local_position plus noise, and checking external vision position was fused in the EKF.
Usage
Build, source, run local interface example node which uses the interface to send a sample estimate every 1s:
ros2 run example_local_navigation_cpp example_local_navigation_cpp
Similarly for global interface example node:
ros2 run example_global_navigation_cpp example_global_navigation_cpp
DanMesh
commented
10 months ago
Contents:
Testing
vehicle_gps_positionplus noise, and checking aux global position was fused in the EKF.vehicle_local_positionplus noise, and checking external vision position was fused in the EKF.Usage
Build, source, run local interface example node which uses the interface to send a sample estimate every 1s:
Similarly for global interface example node: