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@Kratos_Omega From looking through the documentation and code for that node, it looks like it does not currently support an offset associated with vehicle motion. To do this, you would need to have an IMU or wheel odometry driver produce something similar to a geometry_msgs/TwistStamped message. You would then have the imm_ukf_pda_node subscribe to that topic and apply the inverse of the measured accelerations in the Twist measurements to the list of targets.

Merge requests are always welcome!

@Kratos_Omega From looking through the documentation and code for that node, it looks like it does not currently support an offset associated with vehicle motion. To do this, you would need to have a localization source (like NDT matching or an IMU or wheel odometry driver driver) produce something similar to a geometry_msgs/TwistStamped message. You would then have the imm_ukf_pda_node subscribe to that topic and apply the inverse of the measured accelerations in the Twist measurements to the list of targets.

Merge requests are always welcome!