EliaTarasov / Eskf
ROS Error-State Kalman Filter based on PX4/ecl. Performs GPS/Magnetometer/Vision Pose/Optical Flow/RangeFinder fusion with IMU
Stars: ✭ 63
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ESKF
ROS Error-State Kalman Filter based on PX4/ecl. Performs GPS/Magnetometer/Vision Pose/Optical Flow/RangeFinder fusion with IMU
Description
Multisensor fusion ROS node with delayed time horizon based on EKF2.
Building ESKF
Prerequisites:
- Eigen - https://bitbucket.org/eigen/eigen
- Mavros - https://github.com/mavlink/mavros
Steps:
- Clone repository in your
catkinworkspace -git clone https://github.com/EliaTarasov/ESKF.git - Run
catkin_make - Edit launch file
launch/eskf.launchaccording to topics you want to subscribe. - Run ROS node which provides subscribed topics.
- In case you want to use magnetometer for attitude correction make sure IMU has at least 3-4 times higher rate than magnetometer.
If not run
rosrun mavros mavcmd long 511 31 4000 0 0 0 0 0. - Run
roslaunch eskf eskf.launchto start eskf node. - Run
echo /eskf/poseto display results.
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