ros-perception/graft — pull request #20 by trainman419 (2014-06-18 01:09:14+00:00)
Title: Inintialize covariances in GraftImuTopic

On my system, I was seeing cases where the UKF diverged about 50% of the
time during the first updated, because the override covariances aren't
initialized, and would occasionally have values like 1.48947e+195