att_ekf
Extented Kalman filter for attitude estimation using imu and magnetic filed.
How to run the code
cd catkin_ws/src
git clone git@github.com:libing64/att_ekf.git
cd ..
catkin_make -DCATKIN_WHITELIST_PACKAGES="att_ekf"
roslaunch att_ekf att_ekf.launch
#rosbag for test
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download the rosbag
https://drive.google.com/folderview?id=0B4hFvojO5r3sQ01WSHRkWFU2WVE&usp=sharing
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replay the rosbag
rosbag play 2016-02-29-19-05-57.bag
reference:
https://pixhawk.org/_media/firmware/apps/attitude_estimator_ekf/ekf_excerptmasterthesis.pdf http://web.cs.iastate.edu/~cs577/handouts/quaternion.pdf