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Only released in EOL distros:  

starmac_flyer: flyer_common | flyer_controller | flyer_est

Package Summary

State estimation.

ROS API

estimator

Node for producing state estimates from observed measurements. Position/attitude are essentially passed-through from the source data (i.e. Vicon measurements) and linear/angular velocity are simply derived by finite differencing with filtering.

Subscribed Topics

<transform_topic> (geometry_msgs/TransformStamped)

Published Topics

~output (nav_msgs/Odometry)

Parameters

~transform_topic (str, default: "vicon_recv_direct/output") ~freq (int, default: 50) ~xy_vel_filt_a (float, default: 0.9) ~xy_vel_filt_b (float, default: 0.1) ~z_vel_filt_a (float, default: 0.9) ~z_vel_filt_b (float, default: 0.1) ~ang_vel_filt_a (float, default: 0.9) ~ang_vel_filt_b (float, default: 0.1)

Required tf Transforms

/<vehiclename>/flyer_vicon/<vehiclename>/flyer_imu


2019-12-07 12:37