Fix covariance calculations#78
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130s merged 1 commit intoCCNYRoboticsLab:ros1from Jul 21, 2022
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Same comment as #79 (review). Btw this solution looks beautifully reducing the complexity of matrix!
I'm by no means an expert on this change so my review is limited to coding only. That said nothing redflags my eyes.
With probably a lack of active maintainership (tracked in #69), I'm ok to have it unmerged for a week or so then merge if no further review is added.
If you can review @cst0 that'll be great.
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Fix covariance calculations
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The way the ICP covariance calculations are being applied to the output ROS message is incorrect in several ways.
First, the wrong values are being used and, second, the 2x2 xy covariance matrix needs to be rotated into the odom frame from the laser frame of the reference keyframe.
This pull request addresses those issuss.
current-2022-07-12_16.30.48.mp4
fixed-2022-07-12_16.33.06.mp4