covariance matrix for odometry using encoder
Hi,
I have two wheel encoder and I'm able to calculate the distance and publish it as a nav_msg/odometry. I don't know how to calculate the covariance matrix for the same.
I publish the following:
Pose: x,y and orientation (but basically yaw) Twist: vel x (as my robot is non-holonomic) and angular rate z.
Can someone please help me solve this? Is there a formula to calculate the covariance?
Thanks & Regards Sriram
This is probably a better question for the Robotics Stack Exchange.
Hi Tom,
Thanks I'll post the question there. I have another issue. If possible could you have a look at it. find odom_combined