I am looking at robot_pose_ekf to combine multiple odometry sources into 
a more robust odometry estimate for our robot.

It looks like the package combines wheel, visual and imu odometry 
information, but it does not take into account the velocity commands 
sent to the robot when updating the filter ... it instead just updates 
with the Gaussian system model.

Just checking to make sure this is indeed the case, and there's no other 
way the robot commands get in there. The plots on the wiki look like 
this implementation is working quite well ... are commands just not used 
because the system works well enough? I suspect for our robot we'll need 
the additional information in the filter.

Thanks
Fred

-- 
Frederik Heger
Robotics PhD
frederik.heger@vecna.com
617-674-8258 (direct)
412-576-7165 (mobile)
www.vecna.com/robotics

Cambridge Research Laboratory
Vecna Technologies, Inc.
36 Cambridge Park Drive
Cambridge, MA 02140
Office: (617) 864-0636
Fax: (617) 864-0638
http://vecna.com

Better Technology, Better World (TM)

The contents of this message may be privileged and confidential.
Therefore, if this message has been received in error, please delete it
without reading it. Your receipt of this message is not intended to
waive any applicable privilege. Please do not disseminate this message
without the permission of the author.