ROS 之 robot_pose_ekf 多传感器融合

github地址：https://github.com/ros-planning/robot_pose_ekf

0. 安装

# 下载与编译
$ cd catkin_ws/src
$ git clone https://github.com/ros-planning/robot_pose_ekf.git
$ cd ..
$ catkin_make
 
# 出现问题与解决方案
#问题1：
-- Checking for module 'orocos-bfl'
--   No package 'orocos-bfl' found
#解决：
$sudo apt-get install ros-kinetic-bfl

1. 使用

  <!-- Robot pose ekf -->
  <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen">
    <param name="freq" value="30.0"/>
    <param name="sensor_timeout" value="1.0"/>
    <param name="odom_used" value="true"/>
    <param name="imu_used" value="true"/>
    <param name="vo_used" value="false"/>
    <remap from="/imu_data" to="/mobile_base/sensors/imu_data" />
  </node>

2.参考资料
http://wiki.ros.org/robot_pose_ekf
http://blog.csdn.net/x_r_su/article/details/53406078