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ex_kalman_filter_hw

Implementation of an Extended Kalman Filter in python using ROS2 foxy.

Package content

  • The node republish_bag.py is used to perform preprocessing on arriving data, compute dead-reckoning and format the gps_data into an odometry message in the same frame reference.
  • The node ex_kalman_filter.py performs the computation of the extended kalman filter.
  • A launch file is implemented to start the nodes and the rviz visualization with the configuration already setup.