Format Message Types for EKF

[libBAS]

The ROS robot_localization package uses an EKF to fuse sensor data. The message type for data coming from each sensor should be as follows:

• IMU - sensor_msgs/Imu

• Decawave - geometry_msgs/PoseWithCovarianceStamped

• Wheel Odometry - nav_msgs/Odometry

[libBAS]

Additionally, aruco localization

[JWCS]

Remember there's two EKF's; What topics do you want to have published / named for both of them? Y'all should start a launch/config file pair for both of them to target

[juliaschatz]

Right now I have Aruco producing a PoseStamped where the pose is the robot pose. I can probably make this a PoseStampedWithCovariance with a little work if that's necassary.

[JWCS]

Yeah, the covariance, or at least a variance diagonal, is critical.

[juliaschatz]

Okay, now we have PoseWithCovarianceStamped messages.

[libBAS]

Current status:

• Lower level node - Done (runs, launches, tested)

• Upper level node - Math is written, currently being put into a node

Design of upper node - update position from each data point, taking into account current state