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