snowmower_localization

This repository contains an Extended Kalman Filter (EKF) that combines measurements from two wheel encoders, an IMU, and DecaWave beacons, along with a model of differential drive vehicle kinematics, into an estimation of the robot's location.

Note on Tests

In order to do unit tests on Eigen Matrix objects with meaningful output in the case of a failure, the following packages must be added to your workspace:

• eigen_checks

• glog_catkin

• catkin_simple