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The prediction step uses the current state to generate a predicted state. If you have use_control set to true and do NOT have an IMU present, it will use the controls to set the state's acceleration values immediately prior to prediction. If you have use_control set to true, and you also have an IMU present and are fusing accelerations, the filter assumes that measurements of acceleration are more accurate than the controls, and will use those. The same logic occurs if you have use_control to false in that case, but there's nothing measuring linear acceleration.

Control commands do not affect velocity during prediction, only acceleration.