[ros-users] Q about covariance matrices in nav_msgs/Odometry
Konrad Banachowicz
konradb3 at gmail.com
Wed Nov 17 09:05:48 UTC 2010
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 at 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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