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ros-perception / graft

UKF replacement for robot_pose_efk (still in development)
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Inintialize covariances in GraftImuTopic #20

Closed trainman419 closed 9 years ago

trainman419 commented 10 years ago

On my system, I was seeing cases where the UKF diverged about 50% of the time during the first updated, because the override covariances aren't initialized, and would occasionally have values like 1.48947e+195

chadrockey commented 10 years ago

Looks good to me. Do the other topics need this?

Also, there's an indentation error, but those are all over. Sorry, came before I configured sublime text appropriately to use all spaces.

mikeferguson commented 10 years ago

@chadrockey @trainman419 I had cleaned up a bunch of the styling, but not opened a PR, I just opened #21, we can either merge that and rebase this on top of it, or vice versa.

trainman419 commented 10 years ago

Let's merge #21 and then I'll rebase this.

trainman419 commented 10 years ago

It looks like the odometry topic probably needs this too. I'll add it when I rebase.

mikeferguson commented 10 years ago

@trainman419 were you going to rebase this?

trainman419 commented 10 years ago

Yeah. I got distracted that night and then drove to Colorado. I've pushed my rebased version now that I have an internet connection again.

I've also added the initialization of covariances in the Odometry topic.