search

RoboJackets / software-training-old

RoboJackets Software Training
MIT License
153 stars 191 forks source link

Updates Project 3 #221

Closed JasonGibson274 closed 2 years ago

JasonGibson274 commented 2 years ago

This PR fixes a couple key issues in the particle filter to make it much more stable.

  1. Averaging of the yaw was incorrectly done. New parameterization works flawlessly.
  2. Fixes parameter loading in the particle filter sensor nodes
  3. Disables filter when no motion is being applied (with warning printout)
  4. Moved to increased number of tags in the environment for stable performance.