Write odometry node in GTSAM

RoboJackets / igvc-software

The code base for the RoboNav team's IGVC robot.

https://robojackets.org/teams/robonav/

MIT License

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Open oswinso opened 4 years ago

oswinso commented 4 years ago

In our quest for SLAM, let's start off with something very simple, by doing localization with encoders and imu only.

AC: Odometry node written with GTSAM that integrates encoder and imu data and produces an estimate of our position.

oswinso commented 4 years ago

We're changing to use GTSAM instead of G2O. Because of this, I'm postponing this issue till a later milestone.