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stereolabs / zed-ros-wrapper

ROS wrapper for the ZED SDK
https://www.stereolabs.com/docs/ros/
MIT License
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[Question] Why is the odom twist covariance all 0? #639

Closed tianshiz closed 3 years ago

tianshiz commented 3 years ago

Hi, I'm using a ZED1. I noticed that the covariance for pose are filled but the twist covariance are all 0. When performing sensor fusion, should I only be trusting the pose data and not twist?

Myzhar commented 3 years ago

Hi @tianshiz The twist covariance is is a null matrix because the twist info is not available

tianshiz commented 3 years ago

ah ok, I just noticed that too. Is that something that would be available on the ZED2 since it has an IMU?

Myzhar commented 3 years ago

It's a feature that does not depend on the presence of an IMU sensor. To provide twist and twist covariance in base_link frame a frame conversion is required. We are studying the best way to add this feature, maybe it will be available in the future