Optimizer changes #10
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rlpratt12
approved these changes
Dec 9, 2024
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Code looks good, and future state prediction works as expected in sim/tutorial.
Some minor clarification notes from review:
- Predicted state gets far away from current state at turn-around points in trajectory because it has no knowledge of the input force, so it can only assume continued motion based on the current velocity (short version: this behavior is expected).
- occasionally get "[WARN] Could not find a connection between 'base_link' and 'april_X' "
- This is a function of how tf is published right before using it, and sometimes it gets dropped. This is for the sim only, and will not be implemented on real system, so ok to ignore it here.
- 3d_motion_model process noise isn't getting added in sim, so don't worry about the values too much. They're just used to reduce confidence in acceleration for example, because we have no measurement of that.
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Allows the odom publisher to predict into the future. See the
fuse_apriltag_tutorialfor how to use it. You can modify the prediction time inapriltag_simulator.cppto try out different values.Many of the changes are just clang-tidy fixes in files I was passing through. To see the relevant changes, just look in particular at 6c6f9aa and 4557480's changes.