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Kalman Filter #234

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VladimirVincan
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@VladimirVincan VladimirVincan changed the title Kalman Filter init Kalman Filter Dec 5, 2022
@lukicdarkoo
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Cini mi se da ovo radi sasvim pristojno. Jos nekoliko stvari u ovom PR-u:

  • EKF cvor treba da se prebaci u robot_launch.py tako da svaki robot ima svoj EKF
  • Smanjiti rezoluciju kamere u simulaciji. Bolje da radi lose u simulaciji nego na terenu.
  • Inicijalna poza treba da se postavi u nekom launch fajlu. Nisam siguran koje je najbolje rjesenje. Treba obratiti paznju da inicijalna poza treba da se objavi nakon sto je ekf ucitan (ili mozda ne ako je tema latched, provjeriti).

Ostatak (kalibracija kovaricionih matrica, podrska za razlicite pocetne pozicije, koriscenje vise markere za odredjivanje poze mape u odnosu na kameru...) u narednim PR-ovima.

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@VladimirVincan @lukicdarkoo