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methylDragon / ros-sensor-fusion-tutorial

An in-depth step-by-step tutorial for implementing sensor fusion with robot_localization! 🛰
MIT License
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Update 01 - ROS and Sensor Fusion Tutorial.md #1

Closed ricber closed 5 years ago

ricber commented 5 years ago

Swapped "odom -> base_link" and "map -> odom" paragraph titles

methylDragon commented 5 years ago

Hiya! Thanks for spotting the mistake, though the issue is the description and not the titles (that, and the outer titles needed to be fixed as well, haha...)

I'll close and merge in the pull request and make further edits.

CH3EERS!

ricber commented 5 years ago

Sorry, just a last little thing, in Fusing Sensors for the /map frame (map -> odom) shouldn't be

"All continuous sensor data and algorithm outputs that are global pose estimates"

instead of

"All continuous sensor data and algorithm outputs that aren't global pose estimate"

methylDragon commented 5 years ago

Oh! Yeah, actually that's a very confusing point, I was surprised about it too, but if you check the diagram from Clearpath's lecture (https://github.com/methylDragon/ros-sensor-fusion-tutorial/blob/master/assets/1_5.png), they actually fuse non-global data for the global pose estimation Kalman filter!

Thanks for pointing out to me that this is a point of confusion, I'll add in a note to be clearer on that.

CH3EERS!