├── .gitignore ├── LICENSE ├── README.md ├── config ├── ssa_estimation_ukf_config.yml ├── state_estimation_cpp_2d_ekf_config.yml └── state_estimation_cpp_3d_ekf_config.yml ├── dependencies ├── msgs │ ├── CMakeLists.txt │ ├── msg │ │ ├── SteeringReport.msg │ │ ├── TUMDebugSignalNames.msg │ │ ├── TUMDebugValues.msg │ │ ├── TUMFloat64PerWheel.msg │ │ └── TUMFloat64PerWheelStamped.msg │ └── package.xml ├── param_manager_cpp │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── param_manager_cpp │ │ │ ├── param_manager.hpp │ │ │ ├── param_manager_base.hpp │ │ │ ├── param_manager_composer.hpp │ │ │ └── param_manager_non_owning.hpp │ ├── package.xml │ └── src │ │ ├── param_manager.cpp │ │ ├── param_manager_composer.cpp │ │ └── param_manager_non_owning.cpp ├── robot_state_publisher │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── CODEOWNERS │ ├── CONTRIBUTING.md │ ├── LICENSE │ ├── README.md │ ├── include │ │ └── robot_state_publisher │ │ │ └── robot_state_publisher.hpp │ ├── launch │ │ ├── rsp-launch-urdf-file.xml │ │ ├── rsp-launch-urdf-file1.py │ │ ├── rsp-launch-urdf-file2.py │ │ ├── rsp-launch-urdf-inline.py │ │ ├── rsp-launch-urdf-inline.xml │ │ ├── rsp-launch-xacro-api.py │ │ ├── rsp-launch-xacro-command-subst.py │ │ ├── rsp-launch-xacro-command-subst.xml │ │ └── rsp-launch-xacro-popen.py │ ├── package.xml │ ├── src │ │ └── robot_state_publisher.cpp │ ├── test │ │ ├── change_mimic_joint-launch.py │ │ ├── mimic_joint.urdf │ │ ├── test_change_mimic_joint.cpp │ │ ├── test_two_links_change_fixed_joint.cpp │ │ ├── test_two_links_fixed_joint.cpp │ │ ├── test_two_links_fixed_joint_prefix.cpp │ │ ├── test_two_links_moving_joint.cpp │ │ ├── two_links_change_fixed_joint-launch.py │ │ ├── two_links_fixed_joint-launch.py │ │ ├── two_links_fixed_joint.urdf │ │ ├── two_links_fixed_joint_prefix-launch.py │ │ ├── two_links_moving_joint-launch.py │ │ └── two_links_moving_joint.urdf │ └── urdf │ │ ├── test-desc.urdf │ │ └── test-desc.urdf.xacro ├── ros2_watchdog_cpp │ ├── CMakeLists.txt │ ├── include │ │ └── ros2_watchdog_cpp │ │ │ └── topic_watchdog.hpp │ ├── package.xml │ └── src │ │ └── topic_watchdog.cpp ├── ros_debug_helpers_cpp │ ├── CMakeLists.txt │ ├── include │ │ └── ros_debug_helpers_cpp │ │ │ └── debug_publisher.hpp │ ├── package.xml │ └── src │ │ └── debug_publisher.cpp ├── ros_param_helpers_cpp │ ├── CMakeLists.txt │ ├── include │ │ └── ros_param_helpers_cpp │ │ │ └── helper_functions.hpp │ ├── package.xml │ └── src │ │ └── helper_functions.cpp ├── tum_helpers_cpp │ ├── CMakeLists.txt │ ├── doc │ │ └── accel_overview_3d.drawio.svg │ ├── include │ │ └── tum_helpers_cpp │ │ │ ├── common.hpp │ │ │ ├── constants.hpp │ │ │ ├── containers.hpp │ │ │ ├── geometry │ │ │ └── geometry.hpp │ │ │ ├── numerical.hpp │ │ │ ├── rotations.hpp │ │ │ └── type_conversion.hpp │ └── package.xml ├── tum_type_conversions_ros_cpp │ ├── CMakeLists.txt │ ├── include │ │ └── tum_type_conversions_ros_cpp │ │ │ ├── orientation.hpp │ │ │ └── tum_type_conversions.hpp │ ├── package.xml │ ├── src │ │ ├── orientation.cpp │ │ └── tum_type_conversions.cpp │ └── test │ │ └── orientation_tests.cpp └── tum_types_cpp │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ └── tum_types_cpp │ │ ├── common.hpp │ │ ├── control.hpp │ │ └── data_per_wheel.hpp │ └── package.xml ├── docker ├── Dockerfile ├── build_docker.sh └── compose-file.yml ├── docs └── images │ └── repository_structure.png ├── lib_cpp ├── base │ ├── classical_filter │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── classical_filter │ │ │ │ ├── fir.hpp │ │ │ │ └── fir_impl.hpp │ │ └── package.xml │ ├── imu_handler │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── imu_handler │ │ │ │ ├── imu_handler.hpp │ │ │ │ └── imu_handler_impl.hpp │ │ └── package.xml │ ├── ssa_estimation_base │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── ssa_estimation_base │ │ │ │ └── ssa_estimation_base.hpp │ │ └── package.xml │ └── state_estimation_base │ │ ├── CMakeLists.txt │ │ ├── include │ │ └── state_estimation_base │ │ │ └── state_estimation_base.hpp │ │ └── package.xml ├── constants │ ├── ssa_estimation_constants │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── ssa_estimation_constants │ │ │ │ └── UKF_STM.hpp │ │ └── package.xml │ └── state_estimation_constants │ │ ├── CMakeLists.txt │ │ ├── include │ │ └── state_estimation_constants │ │ │ ├── EKF_2D.hpp │ │ │ ├── EKF_3D.hpp │ │ │ └── KF_BASE.hpp │ │ └── package.xml ├── ssa_estimation_cpp │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── ssa_estimation_cpp │ │ │ ├── ssa_estimation.hpp │ │ │ ├── ssa_estimation_impl.hpp │ │ │ └── submodules │ │ │ ├── state_machine.hpp │ │ │ ├── state_machine_impl.hpp │ │ │ ├── ukf.hpp │ │ │ └── ukf_impl.hpp │ ├── package.xml │ └── test │ │ └── unit_test_runtime.cpp └── state_estimation_cpp │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ └── state_estimation_cpp │ │ ├── filter │ │ ├── helper │ │ │ ├── outlier_detection.hpp │ │ │ └── outlier_detection_impl.hpp │ │ └── kalman_filter │ │ │ ├── ekf.hpp │ │ │ ├── ekf_impl.hpp │ │ │ ├── kalman_filter_base.hpp │ │ │ └── kalman_filter_base_impl.hpp │ │ ├── state_estimation.hpp │ │ ├── state_estimation_impl.hpp │ │ └── submodules │ │ ├── ref_orientation_handler.hpp │ │ ├── ref_orientation_handler_impl.hpp │ │ ├── state_machine.hpp │ │ ├── state_machine_impl.hpp │ │ ├── vehicle_model_handler.hpp │ │ └── vehicle_model_handler_impl.hpp │ ├── package.xml │ └── test │ ├── unit_test_runtime.cpp │ └── unit_test_state_machine.cpp ├── packages_cpp ├── ssa_estimation_node_cpp │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── ssa_estimation_node_cpp │ │ │ ├── ssa_estimation_node.hpp │ │ │ └── ssa_estimation_node_impl.hpp │ ├── package.xml │ └── src │ │ └── ssa_estimation_node_main.cpp ├── state_estimation_node_cpp │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── state_estimation_node_cpp │ │ │ ├── state_estimation_node.hpp │ │ │ └── state_estimation_node_impl.hpp │ ├── package.xml │ └── src │ │ ├── CMakeLists.txt │ │ └── cpp │ │ ├── kinematic │ │ ├── state_estimation_node_cpp_ekf_2d_main.cpp │ │ └── state_estimation_node_cpp_ekf_3d_main.cpp │ │ ├── non_holonomic │ │ ├── state_estimation_node_cpp_ekf_2d_main.cpp │ │ └── state_estimation_node_cpp_ekf_3d_main.cpp │ │ └── single_track_model │ │ └── state_estimation_node_cpp_ekf_3d_main.cpp └── state_publisher │ ├── CMakeLists.txt │ ├── README.md │ ├── launch │ └── state_publisher.py │ ├── package.xml │ └── urdf │ └── urdf.xml └── vegas24_pub ├── metadata.yaml └── vegas24_pub.mcap /.gitignore: -------------------------------------------------------------------------------- 1 | build 2 | log 3 | install -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TUMFTM/3DVehicleDynamicsStateEstimation/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: 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