sethu chidam's profile - activity

same here. I am also interested

since your gps is operating at 1 Hz, i think the maximum frequency with which you can publish is 1 Hz. This is because according to basic ekf, the predictor is updated as and when the data from the imu is available and then when the gps data is available, the values are corrected and then published. I think this is reason why you can't publish at 20 Hz.

ATB! (PS: I am not sure if my answer is right, but it is as per my limited knowledge...Please correct me if my answer is wrong)

Does anyone know what state vector, inputs, transistion matrix and measurement matrix is used with the robot_pose_ekf package?

The package fuses data from odometry, IMU and vo. how does this implement the ekf?I've read that you do a prediction step and then a correction step. During which step is each of the data used?

I'm trying to modify the code to incorporate a gyro, but am unable to understand the code.

Thanks!

I want to replace the visual odometry in the robot_pose_ekf package and with a KVH DSP_3000 gyroscope, for which I have written a custom code to publish the integrated angle... Any suggestions on how to go about it?