Using angles library to normalize angles #739
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ayrton04
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Mar 11, 2022
src/ekf.cpp
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| update_indices[i] == StateMemberPitch || | ||
| update_indices[i] == StateMemberYaw) | ||
| update_indices[i] == StateMemberYaw) && | ||
| std::isfinite(innovation_subset(i))) |
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So if the innovation has values that are not finite, we should look into why. Otherwise, this feels like we're trying to just cover up a bigger issue.
Also, oof. I need to update this code to use this.
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Probably is not your fault - I modified little a bit this code and BANG I got infinity loop. I think, this function should be protected against wrong values.
I will try to add "angles" library
ayrton04
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Apr 25, 2022
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tonynajjar
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Apr 26, 2022
| @@ -28,6 +28,7 @@ | |||
| <depend>geographiclib</depend> | |||
| <depend>message_filters</depend> | |||
| <depend>nav_msgs</depend> | |||
| <depend>angles</depend> | |||
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Don't you need to also added in the CMakelist?
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That's weird because project has compiled properly on bare ros:galactic image with rosdep. Probably another dependency has this library.
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* SHARED linking for Geographiclib (cra-ros-pkg#624) (cra-ros-pkg#713) * remove GeographicLib specific linking option Co-authored-by: Achmad Fathoni <fathoni.id@gmail.com> * Fixing code style divergence for ament_uncrustify (cra-ros-pkg#742) * Fixed state history reversion (cra-ros-pkg#736) Co-authored-by: Zygfryd Wieszok <zwieszok@autonomous-systems.pl> * Read predict_to_current_time from ROS parameters (cra-ros-pkg#737) Co-authored-by: Zygfryd Wieszok <zwieszok@autonomous-systems.pl> * Using angles library to normalize angles (cra-ros-pkg#739) * Using angles library for innovation angle normalization Co-authored-by: Stephan Sundermann <stephansundermann@gmail.com> Co-authored-by: Achmad Fathoni <fathoni.id@gmail.com> Co-authored-by: Anish <anishgdev@gmail.com> Co-authored-by: Zygfryd Wieszok <zygfryd.wieszok@gmail.com> Co-authored-by: Zygfryd Wieszok <zwieszok@autonomous-systems.pl> Co-authored-by: Marek Piechula <marpiechula@gmail.com>
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* SHARED linking for Geographiclib (cra-ros-pkg#624) (cra-ros-pkg#713) * remove GeographicLib specific linking option Co-authored-by: Achmad Fathoni <fathoni.id@gmail.com> * Fixing code style divergence for ament_uncrustify (cra-ros-pkg#742) * Fixed state history reversion (cra-ros-pkg#736) Co-authored-by: Zygfryd Wieszok <zwieszok@autonomous-systems.pl> * Read predict_to_current_time from ROS parameters (cra-ros-pkg#737) Co-authored-by: Zygfryd Wieszok <zwieszok@autonomous-systems.pl> * Using angles library to normalize angles (cra-ros-pkg#739) * Using angles library for innovation angle normalization Co-authored-by: Stephan Sundermann <stephansundermann@gmail.com> Co-authored-by: Achmad Fathoni <fathoni.id@gmail.com> Co-authored-by: Anish <anishgdev@gmail.com> Co-authored-by: Zygfryd Wieszok <zygfryd.wieszok@gmail.com> Co-authored-by: Zygfryd Wieszok <zwieszok@autonomous-systems.pl> Co-authored-by: Marek Piechula <marpiechula@gmail.com>
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* Using angles library for innovation angle normalization
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During experimenting with library I stuck on infinity loop with
NaNvalues because: