I'm using laser scan matcher combined with odometry using robot_localization. In general works ok, but sometimes it does pose jumps without showing any error. This is different from issue #20: I don't experience that errors anymore. But jumps are by definition erroneous, as visual odometry must be continuous. So I propose to add a couple of parameters, for example min_jump_dist and min_jump_angle and ignore any pose update bigger than those values. Or alternatively, set a very big covariance proportional to the jump.
They can default to 0, meaning disable the feature.
What do you think? Make sense the idea?
I'm using laser scan matcher combined with odometry using robot_localization. In general works ok, but sometimes it does pose jumps without showing any error. This is different from issue #20: I don't experience that errors anymore. But jumps are by definition erroneous, as visual odometry must be continuous. So I propose to add a couple of parameters, for example min_jump_dist and min_jump_angle and ignore any pose update bigger than those values. Or alternatively, set a very big covariance proportional to the jump.
They can default to 0, meaning disable the feature.
What do you think? Make sense the idea?