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 3.0Wed, 16 Mar 2011 06:52:10 -0500How do I compute the covariance matrix for an orientation sensor?https://answers.ros.org/question/9446/how-do-i-compute-the-covariance-matrix-for-an-orientation-sensor/If I'm writing a driver for an orientation sensor that outputs quaternions, how do I calculate the orientation covariance matrix? I don't even know the units for covariance in the context of the quat's cov matrix (rad^2 maybe?). obviously, I'm lost.
The purpose of the driver (at least in my use-case) is for using it with [robot_pose_ekf](http://www.ros.org/wiki/robot_pose_ekf) so I believe I need a valid cov matrix for robot_pose_ekf to do its magic...
JeffRousseauWed, 16 Mar 2011 06:52:10 -0500https://answers.ros.org/question/9446/