Adding covariance to simulated odometry

asked 2017-01-17 02:58:05 -0500

Swords gravatar image

updated 2017-01-17 03:00:55 -0500

Hi all,

I'm coding up this tutorial on odometry with a simulated custom robot. As part of it, I have been requested to include covariance in the published Odom values.

Can anyone describe to me what is the most straightforward way I can introduce this covariance? Clarification: I am not asking about including the covariance in the rosmsg, but generating a simulated covariance.

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