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cra-ros-pkg / robot_localization

robot_localization is a package of nonlinear state estimation nodes. The package was developed by Charles River Analytics, Inc. Please ask questions on answers.ros.org.
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A Question Regarding The Omnidirectional Model #702

Closed omar2057-ah closed 3 years ago

omar2057-ah commented 3 years ago

Is it okay to use robot_localization on an ackermann-steered vehicle, since the kinematic models are different. From my understanding, it won't be a problem since the omnidirection will predict the state using the velocity control action and the previous pose, in addition to the orientation, so everything will be fine if only the package takes the orientation of the vehicle from the imu not from the differential speeds of the wheels? Am I right?

SteveMacenski commented 3 years ago

Please ask on ros answers