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att_ekf/README.md

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add readme
2016-03-07 23:29:18 +08:00
# att_ekf
Extented Kalman filter for attitude estimation using imu and magnetic filed.
add image to readme
2016-03-08 20:22:53 +08:00
add rosbag for easy test
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# How to run the code
cd catkin_ws/src
git clone git@github.com:libing64/att_ekf.git
cd ..
catkin_make -DCATKIN_WHITELIST_PACKAGES="att_ekf"
roslaunch att_ekf att_ekf.launch
#rosbag for test
1. download the rosbag
add readme
2016-03-07 23:29:18 +08:00
add rosbag for easy test
2016-03-17 10:02:43 +08:00
https://drive.google.com/folderview?id=0B4hFvojO5r3sQ01WSHRkWFU2WVE&usp=sharing
2. replay the rosbag
rosbag play 2016-02-29-19-05-57.bag
add rosbag
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![att_ekf](https://cloud.githubusercontent.com/assets/3192355/13601467/57c2536e-e56b-11e5-82d5-25c8cbc9657f.png)
![att_ekf2](https://cloud.githubusercontent.com/assets/3192355/13601468/57edef42-e56b-11e5-927f-b453604b09f0.png)
add rosbag for easy test
2016-03-17 10:02:43 +08:00
add readme
2016-03-07 23:29:18 +08:00
# reference:
https://pixhawk.org/_media/firmware/apps/attitude_estimator_ekf/ekf_excerptmasterthesis.pdf
add reference for the quaternion
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http://web.cs.iastate.edu/~cs577/handouts/quaternion.pdf