Change covariance model #24
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👍 LGTM |
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Compute twist on publish
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Both model also support a wheel resolution param, which is 0.0 by default.
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This PR is on top of #23
This adds:
dt^2division of the Jacobian. I want to allow the user to select between the previous and the new model (WIP).wheel_resolutionparam to the new covariance model, which avoids zero covariances when the robot doesn't move and makes the model more realistic. Note that this param is a constant, so the covariance would vary with the control frequency. If== 0.0it has no effect, and the covariance (with the quadratic model) won't change with the control frequency.@ayrton04 @afakihcpr @servos