W. Jacob Wagner

I would find this useful as well. Has this been done yet?

FYI, I have modified the[ test_rot_derivative.py](https://gist.github.com/jwag/1faed17fe547fc7ff6f910456f2ace00) script to correct for a sign error in [4]. I also added visualization of the differences in propagated error distributions. Here is an example...

I was just wondering if you could clarify this point about the transformed coordinate frame. I am attempting to use the ahrs data from a gx5_25 device with the robot_localizaiton...

Hey mktk1117, I am interested in making PR if you think it would actually make an improvement in the performance of the system. It seems like this has worked rather...

Hello! I have started work on the PR, but would really like some feedback if you are available. I am also still interested in your response to the above questions....