ROS Error-State Kalman Filter based on PX4/ecl. Performs GPS/Magnetometer/Vision Pose/Optical Flow/RangeFinder fusion with IMU
ROS Error-State Kalman Filter based on PX4/ecl. Performs GPS/Magnetometer/Vision Pose/Optical Flow/RangeFinder fusion with IMU
Multisensor fusion ROS node with delayed time horizon based on EKF2.
Prerequisites:
Steps:
catkin
workspace -git clone https://github.com/EliaTarasov/ESKF.git
catkin_make
launch/eskf.launch
according to topics you want to subscribe.rosrun mavros mavcmd long 511 31 4000 0 0 0 0 0
.roslaunch eskf eskf.launch
to start eskf node.echo /eskf/pose
to display results.