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How to set yaw covariance?

I'm publishing an initialpose for my robot and using AMCL to do the localization. As part of the PoseWithCovarianceStamped msg type, I supply a 6x6 covariance matrix. For the X and Y covariance I am using a value of the confidence level in meters sq (5 meters sq), but I don't know what value I should be using for the Yaw covariance. How do I estimate that?

Asked by mkhansen on 2015-12-22 15:15:14 UTC

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Closing this question as duplicate, I think the link above provides the details necessary.

Asked by mkhansen on 2020-02-28 17:07:47 UTC

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