Hi,
I think this paper describe what you want : http://
infoscience.epfl.ch/record/97432/files/Martinelli_ifacnolcos.pdf
Pozdrawiam
Konrad Banachowicz


2010/11/17 Anh Nguyen <nguyenminhanh@gmail.com>

> 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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