Cleanup EKF #11
Cleanup EKF #11
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… details. Compiles but cannot test performance with simulator as it only receives messages for IMU but nothing else.
…s of the EKF. All of Justin's EKF code can be accessed in the IGVC 2020 repository, so it was removed here.
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Having trouble testing this using rosrun/roslaunch. It seems like only the IMU is being published from the simulator, and not the GPS or velocities. Noah, can you try running it to see if this is the case? I've verified the topic names match, and am no longer receiving any syntax errors. I'm not sure if the way I set up the code is causing it to have problems or if it's not getting data from the sim as I suggested. |
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I have this suspicion because I put a print statement in every subscriber's function, and only the IMU is printed to the console. The EKF state is only changing in yaw/yawrate, and not x/y or v_l/v_r. |
…can be modified in only the ROS node for testing.
Various tweaks to attempt to get the EKF to work, mainly in the update() function. Also change measure_velocities to assume it's receiving angular. EKF is performing without errors but poorly.
This issue was my bad, only sourcing the workspace when running the ROS node, but not when running rosbridge. I added a launch file to solve this. At present the EKF is simply not performing very well in the simulator, so I will not bring this version into master. I may come back and fix it but who knows. |
Should function the same as it did at competition, just more compartmentalized, simplified, and with dead code removed.