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tuw-cpsg / sf-pkg

Generic Sensor Fusion Package for ROS
MIT License
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Fusion of same type of data #1

Open ghost opened 6 years ago

ghost commented 6 years ago

Hi, In the examples I see that different types of sources are used for fusion like the below: ((angular_velocity) (geometry_msgs::Vector3Stamped) (vector.z)) ((acceleration) (geometry_msgs::Vector3Stamped) (vector.y)) ((velocity_wheel_left) (std_msgs::Float32) (data)) ((velocity_wheel_right) (std_msgs::Float32) (data))

Would it be possible to fuse the same type of raw data e.g. velocity from wheel and camera

dratasich commented 6 years ago

Yes it is possible.

Add an additional topic+field in the measurement vector (TOPICS_IN) and set an appropriate OBSERVATION_MODEL (maps state to measurement). In your example: same state variable velocity is mapped to two different velocity measurements/topics (wheel and camera).

Best, Denise