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ethz-asl / ethzasl_msf

MSF - Modular framework for multi sensor fusion based on an Extended Kalman Filter (EKF)
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GPS + SLAM, P quickly diverges. #179

Closed Doodle1106 closed 5 years ago

Doodle1106 commented 5 years ago

Hi,

Thanks for the impressive work.

I can get good results with slam + imu and I am trying to incorporate SLAM with GPS, the steps I followed are:

  1. roslaunch msf_updates position_pose_sensor.launch
  2. rosrun rqt_reconfigure rqt_reconfigure can init core_init_filter

I can then get results from /msf_core/state_out, however I found P quickly diverges.

So I am wondering is there anything thing that I need to pay extra attention to get a good result? Am I using the right steps to combine slam and GPS?

Thanks for any hep. Joey