# state_estimator

**Repository Path**: hai_zhu/state_estimator

## Basic Information

- **Project Name**: state_estimator
- **Description**: 一个简单的状态估计器 
- **Primary Language**: C++
- **License**: GPL-3.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2022-04-17
- **Last Updated**: 2022-06-14

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Rigid Body State Estimation 

## Installation
```cmd
cd [ROS_workspace]/src
git clone https://gitee.com/hai_zhu/state_estimator
cd ..
catkin_make
source devel/setup.bash
```

## State estimation using Mocap
- Change the parameters in the `.yaml` file within the `config` directory. 
- Feed the `.yaml` file to the `.launch` file and check the `remap` lines to make topic names matched.
- Launch the node
  ```cmd
  roslaunch state_estimator mocap_state_kf_multiple.launch
  ```