# ROS Standard SI Units

Hello everyone!

I'm currently using this code, to extract clusters from a Point Cloud and track them via a Kalman Filter with constant velocity: Github Source

Right now I'm trying to publish the Position and Velocity Values above the segmented Clusters. I'm doing it by using:

```
KF0.statePost.at<float>(0)
KF0.statePost.at<float>(1)
KF0.statePost.at<float>(2)
KF0.statePost.at<float>(3)
```

(for all the Kalman Filters KFi I've initialized)

0 and 1 give me the correct X and Y Position, so 2 and 3 should be the corresponding velocity, however I do not know what the Units are. It cant be m/s because its 10^(-6) and I can't think of any reasonable Unit. Maybe its an angle?

I hope someone can help me, thanks in Advanced. Best regards.