Sample Code

Problem Specification and Solution

Information on the problem specification and solution can be found in the included report: report.pdf

Recommended Installation

• ROS Noetic

• Ubuntu 20.04

Getting Started

The project consists of a simulator, gps publisher, accelerometer publisher and estimator. To start system:

roscore
rosrun sample_code gps_publisher
rosrun sample_code accel_publisher
rosrun sample_code estimator
rosrun sample_code simulator

To view measurements and state estimate

rosrun rqt_plot rqt_plot

Accelerometer measurements, gps measurements and the state estimate can be viewed on the topics /gps, /accel, and /estimator respectively.