State Estimator is errorenous

leonard-lab / dcslROS

Source code for Miabot and Beluga ROS System

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State Estimator is errorenous #13

Closed BrendanAndrade closed 11 years ago

BrendanAndrade commented 11 years ago

The state estimator is constantly estimating position to be (0,0). Perhaps gains need to be changed or there is a math error?

illscott commented 11 years ago

Fixed a math error in miabot_propagate_state function, but have not tested if measurement updates are working.

Gains in matrices Q and R probably need to be tuned, along with initial covariance estimate P.

Still need to decide on method for picking initial positions of robots...

illscott commented 11 years ago

Fixed some more typos, and now the estimator is converging successfully to "measurements" published through rostopic. Still need to test on actual robots though.

BrendanAndrade commented 11 years ago

Fixed by https://github.com/leonard-lab/dcslROS/commit/26e5fc41219949e78fb748086bea3ee66a8f3ac1. Not yet merged into main branch.

BrendanAndrade commented 11 years ago

Merged at v0.2.0