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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

credit

Some parts are ported from LMS ego estimator