Re: [ros-users] robot_pose_ekf /vo input units

Thanks Wim, I figured that is was the same as wheel odometry, but I was just
looking for confirmation.

Thanks again,

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
William Woodall
Undergraduate Software Engineering
Auburn University
w@auburn.edu
wjwwood@gmail.com
256-345-9938
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


On Tue, Apr 27, 2010 at 7:54 PM, Wim Meeussen <meeussen@willowgarage.com>wrote:

> William,
>
>
> We use MKS units everywhere
> <http://en.wikipedia.org/wiki/MKS_system_of_units>. So the position
> field in the Pose message contains xyz coordinates in meters.
>
> Wim
>
>
> On Tue, Apr 27, 2010 at 5:39 PM, William Woodall <wjwwood@gmail.com>
> wrote:
> > We are trying to feed gps data into the ekf's /vo topic, and I have seen
> the
> > tutorial for swapping visual odometry out for gps, but I haven't been
> able
> > to find the units for x, y, z pose in the that Odometry msg. I have
> poked
> > around in the source a bit, and I haven't been able to find any clues to
> the
> > units, though I imagine it is displacement in meters or something
> similar.
> > Our gps outputs lat, long, altitude which we need to translate,
> obviously,
> > but I was just wondering if anyone could tell me the specific units the
> ekf
> > is expecting.
> > Thanks,
> > ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
> > William Woodall
> > Undergraduate Software Engineering
> > Auburn University
> > w@auburn.edu
> > wjwwood@gmail.com
> > 256-345-9938
> > ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
> >
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> >
> >
>
>
>
> --
> --
> Wim Meeussen
> Willow Garage Inc.
> <http://www.willowgarage.com)
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