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This project forked from piliwilliam0306/robot_pose_ekf-vs-nthu_odom_fusion
robot_pose_ekf-vs-nthu_odom_fusion's Introduction
robot_pose_ekf VS NTHU_odom_fusion
ROS robot_pose_ekf (ekf with odom and imu data in Odroid)
- "feedback_wheel_angularVel" topic contains angular velocity of two wheels.
![](https://github.com/piliwilliam0306/robot_pose_ekf-VS-NTHU_odom_fusion/raw/master/9PlWL8sO3dqDf2gr-51E4B.png)
NTHU_odom_fusion (fusion in PIC MCU)
- Sending angular velocity of two wheels to do sensor fusion in PIC MCU.
- Sending fused orientation from PIC MCU to Odroid.
- PIC MCU can send command to Mega board to rotate the robot when the calibration is necessary.
![](https://github.com/piliwilliam0306/robot_pose_ekf-VS-NTHU_odom_fusion/raw/master/fusion.png)
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