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* initial commit on state estimation * ekf can publish estimated msgs by copy ground_truth msgs * added update imu step * initial estimation using imu. Tested using 002.bag file * robot is able to estimate rotation * clean up the code, estimate and ground truth starts at the same position * estimate using imu data, comment out quadKD code * Update ekf_estimator.h * Made changes and tested the code according to Joe's review. * rename Subscriber for joint encoder, revert example_with_terrain.rviz
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@@ -4,4 +4,5 @@ docs/ | |
**/build/ | ||
*.vscode | ||
external/ipopt/* | ||
!external/ipopt/.gitkeep | ||
!external/ipopt/.gitkeep | ||
*.csv |
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ekf_estimator: | ||
joint_state_max_time: 20 # Milliseconds until we disregard last joint state message | ||
update_rate: 100 | ||
update_rate: 100 | ||
bias_x: 0.08 # actual measurement of x is 0.083616044 | ||
bias_y: 0.06 # actual measurement of y is 0.060205998 | ||
bias_z: -9.800917657 # actual measurement of z is 0.060205998 |
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,qishuny,qishuny-5510,04.02.2022 17:11,file:///home/qishuny/.config/libreoffice/4; |
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