The fuse stack provides a general architecture for performing sensor fusion live on a robot. Some possible applications include state estimation, localization, mapping, and calibration.
A refactor of processDifferentialPose3DWithCovariance in sensor_proc logic is needed.
Atm both independent and dependent poses are processed with covariance_geometry, since a lot of covariance transformations are needed. Independent poses should be already treated correctly, while dependent ones are a little bit trickier. A better way to treat the latter + relative tests are needed.
Moreover, we have to add the function processDifferentialPose3DWithTwistCovariance which is missing atm + the Odometry3D/IMU3D parameter use_twist_covariance to enable it.
A refactor of
processDifferentialPose3DWithCovariancein sensor_proc logic is needed.Atm both independent and dependent poses are processed with
covariance_geometry, since a lot of covariance transformations are needed. Independent poses should be already treated correctly, while dependent ones are a little bit trickier. A better way to treat the latter + relative tests are needed.Moreover, we have to add the function
processDifferentialPose3DWithTwistCovariancewhich is missing atm + the Odometry3D/IMU3D parameteruse_twist_covarianceto enable it.