Integrate StateEstimationNode with NDT
Description
Now that there is a StateEstimationNode we might want to transition to using it to filter the outputs of the NDT
Expected behavior
The NDT output passes through the StateEstimationNode
to provide a filtered more smooth output.
Definition of Done
-
The state estimator can produce a consistent twist estimate when combined with NDT -
If it doesn't already exist, a shim node which convertsnav_msgs/Odometry
toVehicleKinematicState
should probably be implemented -
stretch goal: State estimator works with record/replay planner + controller (might not work; I don't know the state of these other things) -
A launch script exists to do all of the above -
Integrate State Estimator with NDT in MS3 Launch File.
Edited by Joshua Whitley