Odometry, IMU, GPS fusion

ROS package used

http://wiki.ros.org/robot_localization

Description

Filtered using: 1- EKF 2- UKF

Input: Odometry, IMU, and GPS (.bag file)

Output: 1- Filtered path trajectory 2- Filtered latitude, longitude, and altitude

It runs 3 nodes: 1- An *kf instance that fuses Odometry and IMU, and outputs state estimate approximations 2- A second *kf instance that fuses the same data with GPS 3- An instance navsat_transform_node, it takes GPS data and produces pose data

Also compared memory consumption of EKF and UKF nodes via htop

Please refer docs folder for results