Added the basic BFL implementation for an EKF for IMU type data in 12DoF
Fixed some documentation
Built initial documetation using rosdoc_lite
Inital rough shell of the node source. Right now just does the example from dynamic reconfigure
Fixed a name mangaling issue where there was a using x::y import where x
was the global namespace being used by the cpp file
Fixed problem where there were -'s in the enum constant names,
causinging them to be invalid when dropped into the header files
generated by dynamic_reconfigure
Various small typo fixes to get to compile. Still has absolutely bizzar issue where it compiles but is not properly generating an executable
Basically, it seems like dynamic_reconfigure is broken in groovy or
something very important is missing from the tutorials, because when the
CMakeList.txt lines are added to make DR work, it refuses to build the
executable for the node. Will proceed with static parameters for now.
renamed file
Renamed IMUFilter to OdometryFilter because it's not filtering the raw
IMU, it's performing a transform to Odometry
Added new header defining the interface for the IMUFilter class which
will be used to EKF the raw IMU data from the sensor
Renamed all of the state constants so that they reflected the fact that
they were for Odometry matricies. Added state constants for the IMU
state matrix
Added start of implementation of the IMUFilter class