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.
Implementation of a motion model for EMRS rover derived from the omnidirectional model.
The EMRS model:
subscribes to ICR position topic and mantain a buffer of ICR transforms;
reads from the buffer every time a motion model segment needs between two states to be generated, than:
1) if the ICR transform at state1 time is available, adjust the state using ICR position info
2) if the ICR transform at state1 time is not available, leave the state unmodified
predicts state2 using an omnidirectional motion model
TODO:
[ ] scale process noise based on ICR info
[x] throttle ICR caching based on variation of position
Closes #24
Implementation of a motion model for EMRS rover derived from the omnidirectional model. The EMRS model:
TODO: