hai-zhu/state_estimator

Rigid Body State Estimation

Installation

cd [ROS_workspace]/src
git clone https://gitee.com/hai_zhu/state_estimator
cd ..
catkin_make
source devel/setup.bash

State estimation using Mocap

• Change the parameters in the .yaml file within the config directory.
• Feed the .yaml file to the .launch file and check the remap lines to make topic names matched.
• Launch the node

  roslaunch state_estimator mocap_state_kf_multiple.launch