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Published 20 hours ago • verified publisher icon ShuoYangRobotics

Position z is increasing

Open YapZhenYan opened this issue 1 year ago • 2 comments

I have plotted the campus bagfile as mentioned. I managed to get the shape when plotting x and y. pos_xy

However, when I plot the z position, it is always increasing. pos_z

YapZhenYan avatar Oct 31 '23 12:10 YapZhenYan

Yes, position Z is not fine-tuned and hard to be estimated correctly. Since we have other height estimation method (barometer), we do not use Cerberus for Z height estimation

ShuoYangRobotics avatar Dec 10 '23 06:12 ShuoYangRobotics

Thank you for the information.

  1. Do you have any suggestions on how to improve the z-height estimation for Cerberus?
  2. Which file is the z position parameters being used for the state estimation?
  3. How is the x and y estimation tuned in Cerberus?

YapZhenYan avatar Dec 12 '23 09:12 YapZhenYan