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@RossHartley
RossHartley authored Sep 26, 2018
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This repository contains a ROS wrapper for the C++ inekf library located at [https://github.com/RossHartley/invariant-ekf](https://github.com/RossHartley/invariant-ekf)

This filter can be used to estimate a robot's 3D pose and velocity using an IMU motion model for propagation. The following measurements are currently supported:
* Landmark position measurements
* Prior landmark position measurements (localization)
* Estaimted landmark position measurements (SLAM)
* Kinematic and contact measurements


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