File that adds the IMU odometry covariance to the estimation. More...

#include <sensor_msgs/Imu.h>
#include "geometry_msgs/Vector3Stamped.h"
#include "geometry_msgs/QuaternionStamped.h"
#include "geometry_msgs/Pose.h"
#include <sensor_msgs/JointState.h>
#include <tf/transform_listener.h>
#include <nav_msgs/Odometry.h>
#include "geometry_msgs/Quaternion.h"
#include "tf/transform_datatypes.h"
#include <stdio.h>
#include <std_msgs/Float64.h>
#include <tf/transform_broadcaster.h>
#include <iostream>
#include <fstream>

Include dependency graph for add_imu_odometry_covariance.cpp:

Go to the source code of this file.

Functions
void	ImuCallback (const sensor_msgs::Imu::ConstPtr &msg)
	ImuCallback Function to add covariance to IMU data. More...

int	main (int argc, char **argv)

void	OdometryCallback (const nav_msgs::Odometry::ConstPtr &msg)

Variables
ros::Publisher	imu_pub

sensor_msgs::Imu	inercial_

ros::Publisher	odom_pub

nav_msgs::Odometry	odometry_

tf::TransformBroadcaster *	p_odom_broadcaster

ros::Time	t_i

ros::Time	t_i_1