kalman_filter_pkg

Description

A ROS package with an implemented kalman filter, using the OpenCV KalmanFilter class.
The main node accepts geometry_msgs/PointStamped points and it applies a Kalman filter. The filtered points are published to the topic /kalman_points.

Parameters

• variable_timestamp: True if the prediction is based on the timestamp of the messages (default: False)
• frequency: Used in the prediction only if variable_timestamp is set to False. (default: 30 => visual sensor's frequency)
• Rx, Ry, Rz: Noise covariance matrix
• Q: Process covariance matrix

Run

• Run roslaunch kalman_filter kalman.launch