Is it worth using robot_localization pkg with px4 firmware?

asked 2018-04-10 02:39:40 -0500

l4ncelot gravatar image


I would like to ask you if it's worth using robot_localization for UAVs running on px4 firmware. I want to make my position estimation more precise and maybe one day do some localization in GPS denied spaces with more sensors such as LIDAR or camera.

My question is whether it's still beneficial to use robot_localization package with basic sensors like IMU, GPS and barometer since px4 already does the sensor fusion internally using ekf as described here.

Thank you for any advice.

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i think the px4 ekf is better because that's doesn't have any delay , in future if you want to use camera i suggest you to use msf

Hamid Didari gravatar image Hamid Didari  ( 2018-04-11 08:18:28 -0500 )edit

What's the difference between robot_localization and msf? I know robot_localization uses omnidirectional motion model for state prediction. I don't know how much of an influence does it have on the whole prediction. Does msf use another motion model?

l4ncelot gravatar image l4ncelot  ( 2018-04-11 09:16:58 -0500 )edit