use of uncertainty for vehicle state - Githubissues

tum-phoenix / drive_ros_localize_odom_fusion

Fuses odometry message from various sources

MIT License

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use of uncertainty for vehicle state #3

Closed fabolhak closed 6 years ago

fabolhak commented 7 years ago

[x] calculate dynamic sensor covariances
based on timestamp?
based on difference to ROS time?
based on time since last offset reset?
this could also be done in mavlink module
[x] publish uncertainty
how to combine this with tf?

fabolhak commented 6 years ago

measurement covariances are now calculated based on velocity: https://github.com/tum-phoenix/drive_ros_mavlink_cc2016/commit/6ede9ee4a8086ca86e7f70a06eb113eebab13523