- Clone the project
- Modify demo.cpp.
- This package depends on Eigen library. Follow the instructions on the official website. Easiest way to setup is, extracting and copying the files to "usr/include/" folder.
Note: Demo.cpp will not work unless you clone the main self-driving-car-ROS project or change the message types.
Modify the parameters as you need: (Parameters can be found under tracking.cpp if modifying is necessary.)
- ekf/Qv_ax
- ekf/Qv_ay
- ekf/Qv_psi
- ekf/R_WE_ax
- ekf/R_WE_ay
- ekf/R_WE_psidot
- ekf/R_IMU_ax
- ekf/R_IMU_ay
- ekf/R_IMU_psidot