/odom_filter

Simple ROS2 odometry filter

Primary LanguageC++

A simple ROS2 odometry (Kalman) filter.

Supports Crystal and Dashing.

Requires Eigen3 and ros2_shared.

The Kalman filter (kf.hpp, kf.cpp) is mostly generic, but the angle normalization is hard-coded:

    // Normalize the angles in y
    y_(3, 0) = norm_angle(y_(3, 0));
    y_(4, 0) = norm_angle(y_(4, 0));
    y_(5, 0) = norm_angle(y_(5, 0));