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eskf_localization

Description

ROS implementation of the Error State Kalman Filter according to Quaternion kinematics for the error-state Kalman filter by Joan Solà. Full text can be obtained here.

Node fuses information from IMU, GPS, and magnetometer, publishes fused pose.

For more details, consult: https://zhuanlan.zhihu.com/c_1266722926339645440

Usage

roslaunch eskf_localization eskf_localization.launch

On another terminal,

rosbag play utbm_robocar_dataset_20180719_noimage.bag

Reference

• https://zhuanlan.zhihu.com/p/152662055
• dataset: https://epan-utbm.github.io/utbm_robocar_dataset/
  • recommended: https://drive.utbm.fr/s/MR7DdRcWYysk9Do/download