Odometry covariance about hdl_localization HOT 3 CLOSED

Hi @ricber ,
Yes, you can retrieve the covariance using getCov(). But, I expect that the estimated covariance doesn't well represent the true uncertainty of the localization result because the UKF doesn't take scan matching errors into account.

from hdl_localization.

Yeah, of course, we can put the estimated velocity in the odom message. The reason I didn't is that the velocity was not necessary in my application, and I was lazy to check the velocity output coordinate...

from hdl_localization.

Ok, thank you!

Also, why did you put to zero the linear twist? Because I see you're estimating linear velocities in the Kalman Filter.

from hdl_localization.