Depending on the truth source, the frame changes. The motion capture room published in NWU, while the gazebo simulator publishes in NED.
We can either switch mocap, so that everything we do is in NWU, (I think that is actually a good idea, so we can compare apples to apples when we plot them side-by-side). Or, we can add a parameter to the ekf node to determine which frame the truth data is coming in on, so we filter accordingly.
jerelbn
commented
7 years ago
Depending on the truth source, the frame changes. The motion capture room published in NWU, while the gazebo simulator publishes in NED.
We can either switch mocap, so that everything we do is in NWU, (I think that is actually a good idea, so we can compare apples to apples when we plot them side-by-side). Or, we can add a parameter to the ekf node to determine which frame the truth data is coming in on, so we filter accordingly.