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Robotic-Decision-Making-Lab / blue

ROS 2 platform for underwater robotics research and development.
https://robotic-decision-making-lab.github.io/blue/
MIT License
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[FEATURE]: Filter the motion capture positions and velocities #22

Closed evan-palmer closed 1 year ago

evan-palmer commented 1 year ago

Feature Type

Adding new functionality to the BlueROV2 driver

Problem Description

The motion capture measurements can be noisy. This can introduce issues when using the motion capture system for localization with custom controllers.

Feature Description

Implement either a Gaussian filter or a LWMA filter to filter the state information.

Alternative Solutions

It's possible to rely upon the ArduPilot EKF to filter this state information; however, this may still ultimately introduce unnecessary noise in the measurements.

Additional Context

No response

evan-palmer commented 1 year ago

I am going to wait until I test this out with an actual motion capture system before I implement a filter for this. The ArduSub EKF may be sufficient here

evan-palmer commented 1 year ago

This is handled by the ArduPilot EKF. Going to close this unless any issues arise