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It takes its estimates from the ar_pose_marker node (ARMarker message) using the ar_pose package and publishes fused estimated on the poseWithCovOut node (ARMarker message). The measurement covariance believe is updated according to the covariance contained in the ARMarker message. An additional ar_marker node is published containing a visualization_msgs::Marker message for rviz visualization.

Usage

roscd ar_pose_ekf
./runekf.sh


2020-08-08 12:27