Odometry Fusion

Calculates Kalman filtered vehicle odometry based on different sources.

possible inputs for prediction step:

• odometry msg + imu msg (synchronized via message filters)
• single odometry msg
• single imu msg

possible inputs for correction step:

• odometry msg + imu msg (synchronized via message filters)
• single odometry msg
• single imu msg

Correction step rate can be slower than prediction rate.

Currently supported models:

• CTRV
• CTRA

=> please check the docs or code which inputs the model require

Further infos (chapter 4.2.5).

dependencies

• Kalman Lib

credit

Some parts are ported from LMS ego estimator

• mherb
• Phibedy
• fabolhak