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2016-08-07 15:17:19 -0500 | asked a question | hector_quadrotor_demo is unstable when using EKF estimation for control instead of ground truth Hello All! I have hector_quadrotor_demo installed along with ROS indigo and Gazebo 2.2.6. Instead of relying on ground truth for control, I'm trying to use the state estimator provided in the package. To do that, I changed the following configuration from "true" to "false" in "spawn_quadrotor.launch". Now, I have verified that /state topic is used for control instead of /ground_truth/state. Here comes the problem:
With lots of diagnostics, here are the most important observations that I get. Note that these observations are valid even when the quadrotor is still on the ground (all motors are off, no control command yet).
Any idea what is happening here? Is the pose estimation node provided in the tutorial supposed to work normally or am I missing something? |