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));