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.
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