sxsong1207 / ethzasl_msf_noros

MSF - Modular framework for multi sensor fusion based on an Extended Kalman Filter (EKF)

ethzasl_msf_noros

Description

Transplant version of ethasl_msf. It is a time delay compensated single and multi sensor fusion framework based on an EKF. Please see the wiki for more information: https://github.com/ethz-asl/ethzasl_msf/wiki

Changes

• A simple config reader dep on YAML-CPP as substitution of ROS param server.
• Message definitions look like ROS in msf_struct.
• msf_IMUHandler_NOROS.h simple implemented sensor message collector.
• msf_updates/pose_sensor_handler/* and msf_updates/position_sensor_handler/* get rid of ROS dependency.
• an example named pose_position_msf including two test datasets. vicon.txt and imu.txt are extract from original dataset.bag

Notice

Without ROS support, the filter is degenerated to single-thread model. If concurrent or RPC process are required, you must implement these feature by yourself, with callback function in sensormanager.

Build dependency

You should install and assign dep libs by your self. Includes:

find_package(Eigen3 REQUIRED)
find_package(GTest REQUIRED)
find_package(Threads REQUIRED)
find_package(Glog REQUIRED)
find_package(yaml-cpp REQUIRED)
find_package(PCL REQUIRED)

License

The source code is released under the Apache 2.0 license