Ask Your Question

Revision history [back]

If I understand you correctly, you have a source of ground truth data and your EKF-filtered state, and you want to compare them so as to quantify the accuracy of the EKF-filtered state.

If it were me, I'd compute the transform between the first pose in your EKF-filtered state (nav_msgs/Odometry message) and the first pose in your ground truth. Then I'd subscribe to the EKF filtered state, transform it into the frame of your ground truth, and then just compare them directly.