Vehicle heading taken from using GPS measurements combined with the IMU rate of rotation in the EKF. A program to convert the Odometry message from the EKF to an Imu message has been included for lidar mapping experimentation.
A separate issue will be made after discussing a method for retrieving an initial vehicle heading without the use of GPS (due to the heading estimate's need for vehicle movement).
Vehicle heading taken from using GPS measurements combined with the IMU rate of rotation in the EKF. A program to convert the
Odometrymessage from the EKF to anImumessage has been included for lidar mapping experimentation.A separate issue will be made after discussing a method for retrieving an initial vehicle heading without the use of GPS (due to the heading estimate's need for vehicle movement).