feat(imu_corrector): changed input topic of GyroBiasEstimator from ndt_pose to ekf_odom #5374
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Signed-off-by: Shintaro Sakoda <[email protected]>
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…t_pose to ekf_odom (autowarefoundation#5374) Changed input topic of GyroBiasEstimator from pose to odom Signed-off-by: Shintaro Sakoda <[email protected]>
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Description
Change the input topic used by GyroBiasEstimator from
/localization/pose_estimator/pose_with_covarianceto/localization/kinematic_state.This change comes from the idea that
/localization/kinematic_stateis a more formal pose output from the localization module.It should be noted that EKF is dependent on the IMU, so the EKF itself will be slightly affected when the IMU bias is not fully compensated.
However, if NDT is used as the pose_estimator, experiments have shown that the effect is small.
Related link
Tests performed
In sample rosbag
In internal rosbag
The experiment was conducted using the IMU bias calibrated in September.
The change from NDT to EKF has little effect on the results.
The module can detect a change in yaw bias from June to September.
Effects on system behavior
The output values to diagnostics are only slightly changed.
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