ROS Answers: Open Source Q&A Forum - RSS feedhttps://answers.ros.org/questions/Open source question and answer forum written in Python and DjangoenROS Answers is licensed under Creative Commons Attribution 3.0Sat, 30 Sep 2017 12:55:50 -0500EKF_robot_pose: how it works?https://answers.ros.org/question/271980/ekf_robot_pose-how-it-works/Hello,
I have a question for ekf_robot_pose's authors
I can't understand from the source what math model ( x(k+1) = f(x(k),u(k)) ) has been used for robot system.
Maybe something like this:
![image description](https://image.ibb.co/mYxdwG/Schermata_del_2017_09_30_15_53_59.png)
Where ξ is the speed of the robot, T is the sample time, Δ is the last rotation within [t(k-1), t(k)]
My output measurement is y = [x1 x2 θ] vector. I get it from odom topic like ekf_robot_pose algorithm.
My input vector is u =[ξ Δ].
What's the input vector of ekf_robot_pose algorithm? Because it seems to work only with output measurement
P.S. I use only odom informations.
Thank yousabruri1Sat, 30 Sep 2017 12:55:50 -0500https://answers.ros.org/question/271980/