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GOFIRST-Robotics / NASA-RMC-2020-NorthstarRobotics

The NASA RMC 2020 repository for Northstar Robotics, a segment of University of Minnesota Robotics
https://docs.google.com/presentation/d/1eXhP5dbxtgWJBE492b78TFrnQFL9yoPsJFO4HszJn60/edit?usp=sharing
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Add EKF-ready odometry for Aruco #25

Closed juliaschatz closed 4 years ago

juliaschatz commented 4 years ago

See sister pull request: https://github.com/GOFIRST-Robotics/aruco_localization/pull/2

Fixes #9

juliaschatz commented 4 years ago

The aruco/estimate topic now produces a PoseWithCovarianceStamped in the robot frame, ready to be plugged into an EKF.

juliaschatz commented 4 years ago

I have tested this and confirm it is working as I intend. It only produces a covariance, as RViz was having a hard time with the covariance I produce and I don't think it's worth the time to debug right now.

To verify: /aruco/estimate produces a PoseWithCovarianceStamped message, which has the frame set to aruco. The aruco frame will be relative to the map frame. The pose is of the robot frame, which is derived via the link between the camera frame and the robot frame. The given pose will allow the EKF to derive the position of the robot frame relative to the map frame.