Hi,
I think this paper describe what you want : http://infoscience.epfl.ch/record/97432/files/Martinelli_ifacnolcos.pdf
Pozdrawiam
Konrad Banachowicz
Thanks Wim,A bit more research shows that something like below would work since my robot only move along xy plane and rotate around z axis. But I am still totally lost on what cov_x, cov_y and rcov_z really mean and how to compute them. Any suggestion / pointer will be appreciated.msg.pose.covariance = {cov_x, 0, 0, 0, 0, 0,0, cov_y, 0, 0, 0, 0,0, 0, 99999, 0, 0, 0,0, 0, 0, 99999, 0, 0,0, 0, 0, 0, 99999, 0,0, 0, 0, 0, 0, rcov_z}Best,-Andy
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