This project estimates a robot's global x and y states and the robot relative v,a,psi,yaw,dyaw, ddyaw states using an IMU and a joystick signal with the help of a Kalman Filter.
Clone this project with:
$ git clone https://github.com/braineniac/kalman_estimator.git
kinetic or melodic
- matplotlib
- numpy
- pandas
- scipy
I would recommend creating a virtualenv, then you can install these with:
$ pip install -r requirements.txt
In your workspace run:
$ catkin_make kalman_estimator
This package is currently used as local data analysis package from rosbags and thesis generation.
It has a standard Kalman Filter and an Extended Kalman Filter with an adaptive process covariance with a window function.
This project is licensed under the Apache 2.0 License - see the LICENSE file for details