Position z is increasing

[YapZhenYan]

I have plotted the campus bagfile as mentioned. I managed to get the shape when plotting x and y.

However, when I plot the z position, it is always increasing.

[ShuoYangRobotics]

Yes, position Z is not fine-tuned and hard to be estimated correctly. Since we have other height estimation method (barometer), we do not use Cerberus for Z height estimation

[YapZhenYan]

Thank you for the information.

1. Do you have any suggestions on how to improve the z-height estimation for Cerberus?
2. Which file is the z position parameters being used for the state estimation?
3. How is the x and y estimation tuned in Cerberus?