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Robot Operating System Cookbook by Kumar Bipin

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State estimation

However, in the real MAVs, generally, there is no direct odometry sensor, such as has been used in the previous subsection. Rather, there is a broad variety of sensors, such as GPS and magnetometer, cameras, or lasers to do SLAM, or external tracking systems such as motion capture setup that provide a full six degrees of freedom (6DoF) for pose. In this section, we will discuss how to use MSF packages to get the full state from a pose sensor and the IMU.

We will run the example that needs the rotors_simulator_demos package that was downloaded in the previous subsection. The following command will start all the required ROS nodes:

$ roslaunch rotors_simulator_demos mav_hovering_example_msf.launch  

We can observe, in the following ...

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