cwrucutter snowmower_localization issues

cwrucutter / snowmower_localization

An EFK for the snowmower.

MIT License

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issues

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Nonan

#46 kleinma closed 7 years ago
0
Debug occurrence of occasional explosion of NaN/Inf during EKF updates.

#45 kleinma opened 7 years ago
0
Pick up milk on way home.

#44 kleinma closed 8 years ago
1
Move helper functions to their own *.cpp and *.h files.

#43 kleinma opened 8 years ago
0
Consolidate K*(), stateUpdate*(), and covUpdate*() by making parameters and return variable sized.

#42 kleinma opened 8 years ago
0
Check all areas where we could divide by zero to make sure that it isn't causing problems and write tests.

#41 kleinma closed 8 years ago
1
Write tests that check F with very small values of omega.

#40 kleinma closed 8 years ago
1
Fix of CMakeLists.txt and package.xml so that code compiles the first time.

#39 kleinma opened 8 years ago
0
Scale system noise, Q, by dt.

#38 kleinma opened 8 years ago
0
Learn how to forward declare instead of #include in ekf.h

#37 kleinma opened 8 years ago
0
Make Covariance matricies variable, a la Eric Perko.

#36 kleinma opened 8 years ago
0
Determine covariance matrices for system and measurement models.

#35 kleinma opened 8 years ago
1
Make decawave callback function open to any number of beacons.

#34 kleinma opened 8 years ago
0
Write test of -1 value of decawave measurement.

#33 kleinma opened 8 years ago
0
Interpret value of -1 from decawave anchor as invalid and calculate measurment update accordingly.

#32 kleinma opened 8 years ago
1
Make sure we are not taking square root of a negative value when there is a decawve measurement of -1 (i.e. bad measurement).

#31 kleinma closed 8 years ago
3
Populate odometry message with Covariances.

#30 kleinma opened 8 years ago
0
Reduce intitial covariance and see if it reduces drift at beginning.

#29 kleinma opened 8 years ago
0
Remove dependency on boost library in pubState function.

#28 kleinma opened 8 years ago
0
Add common parameters to a yaml file. State and beacon location can still be set in individual launch files.

#27 kleinma closed 8 years ago
1
Add second ekf object that only updates in odometry callback functions. Call them ekf_odom_ and ekf_map_.

#26 kleinma closed 8 years ago
1
Set frame_id and child_frame_id using parameters.

#25 kleinma closed 8 years ago
1
Write code to determine dt (The plan is to run a system and measurement update each time a measurement is received.)

#24 kleinma closed 8 years ago
1
Should v_r, d_r, or number of ticks be the measurement for encoders? Should that process happen in ekf or ekf_node?

#23 kleinma closed 8 years ago
1
Remove influence of x, y, and theta on yaw rate bias by making those parts of the covariance matrix 0, a la Eric Perko.

#22 kleinma closed 8 years ago
1
Write tests for Encoder H.

#21 kleinma opened 8 years ago
0
Write tests for Encoder h.

#20 kleinma closed 8 years ago
0
Initialize time and previous tick count for encoders.

#19 kleinma closed 8 years ago
1
Code up Encoder measurement model.

#18 kleinma closed 8 years ago
1
Write tests for IMU H.

#17 kleinma opened 8 years ago
0
Write tests for IMU h.

#16 kleinma opened 8 years ago
0
Add IMU bias as a state.

#15 kleinma closed 8 years ago
0
Code up IMU measurement model.

#14 kleinma closed 8 years ago
1
Write tests for decawave H.

#13 kleinma closed 8 years ago
0
Write tests for decawave h.

#12 kleinma closed 8 years ago
0
Add offset to decawave (base_decawave is not at base_link!).

#11 kleinma closed 8 years ago
0
Code decawave measurement model.

#10 kleinma closed 8 years ago
0
Write tests for system F

#9 kleinma closed 8 years ago
0
Write tests for system f.

#8 kleinma closed 8 years ago
0
Account for omega in denominator in F function.

#7 kleinma closed 8 years ago
0
Code up the equations for the system model.

#6 kleinma opened 8 years ago
1
Create callback functions for subscribers.

#5 kleinma closed 8 years ago
0
Initialize everything!

#4 kleinma closed 8 years ago
0
Add transform broadcaster to pubState function.

#3 kleinma closed 8 years ago
0
Include publishers and subscribers.

#2 kleinma closed 8 years ago
0
Create an EKF class.

#1 kleinma closed 8 years ago
0