What should we do if kimera fails? Send lost status, and try to restart kimera with the latest pose?

wvu-navLab / SRC2-Sensor-Fusion

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What should we do if kimera fails? Send lost status, and try to restart kimera with the latest pose? #3

Open cagrikilic opened 4 years ago

cagrikilic commented 4 years ago

https://github.com/wvu-navLab/SRC2-Sensor-Fusion/blob/502cc13ce3884382e4517f0f1e2574a4ac96ba6b/sensor_fusion/src/sensor_fusion.cpp#L206

jsngross commented 4 years ago

Thought about this, since we are only using body-frame velocity estimates from kimera in our filter and not position, we just need to restart and no need to worry about special init. We can just let us use the "deadreckoning odometry" from the wheels as the initialization, which it already does.