/kalman_filter_pkg

Kalman filter implementation in ROS

Primary LanguageC++

kalman_filter_pkg

Build Status

Description

A ROS package with an implemented kalman filter, using the OpenCV KalmanFilter class.
The main node accepts geometry_msgs/PointStamped points and it applies a Kalman filter. The input topic is defined in the config file params.yaml. The filtered points are published to the topic /kalman_points.

Parameters

  • keypoint_topic: Input topic
  • variable_timestamp: True if the prediction is based on the timestamp of the messages (default: False)
  • frequency: Used in the prediction only if variable_timestamp is set to False. (default: 30 => visual sensor's frequency)
  • Rx, Ry, Rz: Noise covariance matrix
  • Q: Process covariance matrix

Run

  • Run roslaunch kalman_filter kalman.launch