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README.md

att_ekf

Extented Kalman filter for attitude estimation using imu and magnetic filed.

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

download the rosbag

https://drive.google.com/folderview?id=0B4hFvojO5r3sQ01WSHRkWFU2WVE&usp=sharing
replay the rosbag

rosbag play 2016-02-29-19-05-57.bag

reference:

https://pixhawk.org/_media/firmware/apps/attitude_estimator_ekf/ekf_excerptmasterthesis.pdf http://web.cs.iastate.edu/~cs577/handouts/quaternion.pdf