While reproducing your work, I noticed that changing the values of altimeter_update and enable_yaw_aiding in icins_2021_evaluation.py of the package ekf_yrio does not affect the run. To apply this change, I needed to comment out the corresponding Kalman Filter update functions (for baro and yaw), and the results were significantly changed.
Is it a bug related to loading parameters from the launch file?
Hi, thanks for sharing your incredible work!
While reproducing your work, I noticed that changing the values of
altimeter_updateandenable_yaw_aidinginicins_2021_evaluation.pyof the packageekf_yriodoes not affect the run. To apply this change, I needed to comment out the corresponding Kalman Filter update functions (for baro and yaw), and the results were significantly changed.Is it a bug related to loading parameters from the launch file?