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[Question][Help] Display the output like estimation and ground truth in ROS #1

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anilbommareddy opened this issue Feb 7, 2023 · 0 comments

anilbommareddy commented Feb 7, 2023 •

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How to Display the

(m_x, m_y) - the position value as measured by the sensor converted to cartesian coordinates
2.(r_x, r_y, r_vx, r_vy) - the real ground truth state of the system(RMSE-Root mean square error)
in the ROS environment by using same source code with small changes like
(1)For ROS environment , i think need to use subscribe<sensor_msgs::Imu>(imu/data, 10,sensorCallback) for IMU data.
(2) Abstract lidar/Radar data from IMU like
L(for lidar) m_x m_y t r_x r_y r_vx r_vy
R(for radar) m_rho m_phi m_drho t r_px r_py r_vx r_vy
(3) Display the output like estimation and ground truth in ROS as shown in github link

I checked similar link https://github.com/cggos/imu_x_fusion. this repo and lidar_radar_fusion_ekf_ukf repo are different .imx_x_fusion difficult understand on EKF.

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