ayrton04
commented
5 years ago Yeah, this is a common request. The reason it hasn't been addressed is primarily because we're hoping to release an r_l-compatible package that is built on top of fuse:
https://github.com/locusrobotics/fuse
fuse will have support for easily adding new kinematic models to the package.
In the meantime, however, you can actually get the behavior of other kinematic models within r_l. For example, if you use two_d_mode and also feed 0 measurements for Y velocity from your sensor data, you end up, IIRC, with the same math you get for the unicycle model. This package gets used on thousands of 2D differential drive robots 24/7 in commercial environments, as well as on some 2D omnidirectional robots. Granted, this is less computationally efficient that a dedicated 2D model, but the package is pretty lightweight regardless.
beetleskin
Currently, the filter work on the 6DOF omni-directional motion model exclusively. In order to improve the localization of robots where this motion model is not applicable, the user should be able to select from different motion models, or be able to provide a custom motion model, e.g. via the plugin-lib.
Rationale: Most robots do not have 6DOF, only drones and similar do actually. Often the robot is wheeled or legged, meaning it can't fly. There are omni-directional robots, differential-drive robots, ackermann-based robots, swimming robots .. It is assumed that the localization accuracy will benefit from more applicable motion models.
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