A method was added to update the measurement noise covariance matrix based on the distance between the robot and the ball.
Proposed changes
As the measurement noise increases, when the ball is further away, we want to model this.
To do so, we look at the measurement noise covariance matrix R, which was not updated previously.
We want to calculate it in every filter step taking the distance in comparison to a reference distance into account.
Summary
A method was added to update the measurement noise covariance matrix based on the distance between the robot and the ball.
Proposed changes
As the measurement noise increases, when the ball is further away, we want to model this. To do so, we look at the measurement noise covariance matrix R, which was not updated previously. We want to calculate it in every filter step taking the distance in comparison to a reference distance into account.
Related issues
Should fix #424.
Checklist
colcon build