ROS 1 interface to mav_sensors.
Paper: https://arxiv.org/pdf/2408.05764
@inproceedings{girod2024brio,
author = {Rik Girod and Marco Hauswirth and Patrick Pfreundschuh and Mariano Biasio and Roland Siegwart},
title = {A robust baro-radar-inertial odometry m-estimator for multicopter navigation in cities and forests},
booktitle={IEEE Int. Conf. Multisensor Fusion Integration Intell. Syst.},
year={2024}
}
| Package | Description | Link |
|---|---|---|
| rio | radar-inertial odometry estimator | rio |
| mav_sensors | Linux user space sensor drivers | mav_sensors |
The radar sensor uses by default a left-handed coordinate frame. A new parameter flip_z (boolean) is introduced, with which the frame can be made right-handed.
Attention: the original implementation of RIO makes use of the original TIAWR1843AOP LH coordinate frame!
