larics / sensor_fusion

Error State Kalman Filter Sensor Fusion Framework for UAVs

EKF-Sensor Fusion

This is a multi-sensor error-state EKF implementation for localization of a UAV. More information on usage and Algorithm description can be found on the wiki

Install

Classic catkin project build: Then:

cd <path_to_catkin_ws>/src
git clone https://github.com/larics/sensor_fusion.git
catkin build

You might also need to install yaml-cpp from: https://github.com/jbeder/yaml-cpp

Configuration file

This is where the user configures the filter, detailed instructions can be found on the wiki at Using the package

Run the test

in the first terminal window run:

roslaunch sensor_fusion sensor_fusion.launch

then in the second:

cd bags/
rosbag play tent_test_cam_posix_2020-11-20-11-50-06.bag

now you can plot the output state (/es_ekf/odom) using plot juggler or some other visualization tool.

Testing ssh