LSEnode
This ros-node represents a simple interface to the LSE library. It does by far not support the features of the library. In short: - Initialize the LSE-manager (while loading the Parameters.xml parameter-file) - Subscribes to the measurement topics (can be specified in the launch file) - Resets the filter state on the first measurement - Passes the measurement data further to the filter - Updates the filter if an encoder measurement is available - Publishes the estimated state to ros-topics (the launch file launches corresponding rxplots)
INSTALLATION:
- add directory to ROS
- enter build folder
- execute cmake: "cmake .."
- compile: "make"
DEPENDENCIES:
- Standard library
- ROS (including sensor_msgs and geometry_msgs)
- Eigen3
- LSE library (if you did not use the install flag during compilation you will have to link the header files and the library by hand)