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Simulation for particle filter heading update. This takes in magnetometer information from the vector-nav and uses that as a weight for the direction. It subscribes to to vectornav/MAG to take in heading and updates particles with each heading input. Then returns predicted heading value.
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Simulation for particle filter measurementposition update. This takes in location information from the GPS and uses that as a weight for the directionthe position, and it takes odometer data to perform the motion update of the particles. It subscribes to the GPS node to take in location and updates particles with each heading inputLOAM node data to update particles' relative position. Then returns predicted heading position value.
ROS Transforms
Base-Link Identification:
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