This repostory contains software for the virtual track of the DARPA SubT Challenge. Within this repository you will find Gazebo simulation assets, ROS interfaces, support scripts and plugins, and documentation needed to compete in the SubT Virtual Challenge.
Original report (archived issue) by Paul Jurczak (Bitbucket: pauljurczak).
The covariance matrices for
/X1/imu_data
and/X1/odom
are zero. Is it intended? Are there more realistic values available?