❓ State Estimation

• Using Tracking Camera
• Using LiDAR + IMU

The steps are very similar to the simulation task. Please refer to that for details.

Here are the commands to run to available state estimation methods.

Using Tracking Camera

# In the host PC
roslaunch smb_opc opc.launch

# In the SMB terminal 
roslaunch smb smb.launch

In RViz, change the fixed frame to tracking_camera_odom, then drive the robot with RC transmitter and see how the robot is moving in RViz respective to the odom frame.

Using LiDAR + IMU

# In the host PC
roslaunch smb_opc opc.launch

# In the SMB terminal - launch msf graph 
roslaunch smb_msf_graph smb_msf_graph.launch

If successful, you can see GMsf ...graph is initialized. message in the SMB terminal.

In RViz, select world_graph_msf as the global frame. Then drive the robot with RC transmitter and see how the robot is moving in RViz respective to the world frame.