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Octanis1 / Octanis1-ROS

ROS setup for Octanis Rover SBC.
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GPS measurement to Kalman filter is problematic #28

Closed anaroldan closed 8 years ago

anaroldan commented 8 years ago

rostopic list to see the "raw" gps data fix rostopic echo to see the data

imu data is: /imu2/data, /imu/data (includes heading/yaw) and /imu/raw, covariance is static: https://github.com/Octanis1/rtimulib_ros/blob/master/src/rtimulib_ros.cpp gps topic: /mavros/global_position/raw/fix (covariance provided by https://github.com/mavlink/mavros/blob/master/mavros/src/plugins/global_position.cpp

kalman filter used: ekf_localization_node from http://wiki.ros.org/robot_localization kalman state: x y z r p y xdot ydot zdot rdot pdot ydot xdotdot ydotdot zdotdot kalman filter takes in gps (x y z) and imu (r p y) measurement.

anaroldan commented 8 years ago

setting the GPS X Y Z covariance to 0.01^2 manually does not improve anything