[ros-users] Q about covariance matrices in nav_msgs/Odometry
Anh Nguyen
nguyenminhanh at gmail.com
Wed Nov 17 04:28:40 UTC 2010
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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