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Number of diagonal elements in the pose covariance matrix

asked 2021-08-09 15:01:52 -0500

skpro19

310 ●35 ●65 ●58 https://twitter.com/skpro19

The control.yaml file inside the husky_gazebo package defines the value of the pose_covariance_diagonal parameter as [0.001, 0.001, 0.001, 0.001, 0.001, 0.03].

A pose is made up of 7 elements - [x, y, z,q_x, q_y, q_z, q_w]. So, shouldn't the number of elements in the pose_covariance_diagonal parameter be 7?