Feature/eskf landmark valve - #666

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AntTra wants to merge 54 commits into

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feature/eskf-landmark-valve

Commits on Feb 9, 2025

feat: added the math and setup of the ESKF, need some changes
Talhanc
committed
17a7660

Commits on Feb 10, 2025

feat: added in the IMU msg and DVL msg, pluss ros2 setup
Talhanc
committed
dff90b7

Commits on Feb 21, 2025

feat: added ES-UKF filter
Talhanc
committed
d428dfb

Commits on Feb 27, 2025

feat: added UKF fix injection step
Talhanc
committed
382b079

Commits on Mar 9, 2025

feat: working ukf filter is added, some issue in the ESUKF
Talhanc
committed
52bdaeb

Commits on Mar 14, 2025

added in some changes to eskf and the ukf algorithm
Talhanc
committed
2a3daba
added test script
Talhanc
committed
007c240
fixed some errors, code runs from eskf_test now
Talhanc
committed
1fb496b

Commits on Mar 20, 2025

added changes to ukf
Talhanc
committed
e110152

Commits on Mar 28, 2025

feat: Added ESKF in cpp using .hpp and .cpp, current implementation uses msg imu/data_raw and /orca/pose as the dvl info
Talhanc
committed
1e02ea2

Commits on Apr 2, 2025

fix: Added correction for the IMU measurements
Talhanc
committed
1ea9e56

Commits on Apr 3, 2025

Commits on Apr 5, 2025

fix: added errorstate and nominalstate variables into the eskf class
Talhanc
committed
ea29da3

Commits on Apr 17, 2025

Commits on May 8, 2025

feat: added NIS plots
Talhanc
committed
65e8467

Commits on May 13, 2025

Commits on May 14, 2025

feat: Adding in the TUKF and the UKF
Talhanc
committed
124f337

Commits on May 18, 2025

fix: added tukf and simulation
Talhanc
committed
3da7c44

Commits on May 20, 2025

fix:added in some minor fixes
Talhanc
committed
025410a

Commits on May 30, 2025

added the cpp code
Talhanc
committed
0475154

Commits on Oct 5, 2025

Merge branch 'main' into eskf-and-tukf-test
Talhanc
committed
72d13a2
fix: removing tukf and some errors in eskf
Talhanc
committed
334519d
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot]
committed
7d112b8

Commits on Oct 7, 2025

Commits on Oct 19, 2025

We do a little bit of refactoring
chrstrom
committed
80cbd2d
refactor(eskf): vortex-utils enjoyer
Andeshog
committed
3a1b03c
merge main
Andeshog
committed
2e78156

Commits on Jan 9, 2026

eskf: added VO-relative anchoring, cleaned duplicate typedef matrices, added local visual egomotion anchoring, reset VO anchor on measurement gaps, fuse VO as relative pose measurement'
AntTra
committed
52b2a06

Commits on Jan 14, 2026

refactor: split valve code into logic and ROS. Turned off the DVL in eskf
AntTra
committed
af62692

Commits on Jan 15, 2026

Commits on Jan 20, 2026

feat: handles multiple unique marker IDs in a single frame
AntTra
committed
454bd16

Commits on Jan 21, 2026

updated to use vortex_utils_ros
AntTra
committed
826ab51

Commits on Feb 2, 2026

refactor: renamed from valve to visual egomotion, VO using parameters from YAML. ESKF changes: anchor transform, velocity update from consecutive VO measurements, smart anchor reset, NIS rejections…
AntTra
committed
6186989

Commits on Feb 3, 2026

modified smart anchoring to deterministicly pick lowest id
AntTra
committed
6535f82
refactor: deleted anchor_id_
AntTra
committed
7e77a46

Commits on Feb 5, 2026

removed mad, renamed some variables in visual egomotion
AntTra
committed
e7715cd

Commits on Feb 7, 2026

removed now redundant VO debugging
AntTra
committed
a4619d6
removed residual definitions from pose cov innov debug
AntTra
committed
fc3738f

Commits on Feb 10, 2026

incomplete refactor: switching to desktop
AntTra
committed
5678dfa
Merge branch 'main' into feature/eskf-landmark-valve
AntTra
committed
3e0c3a4

Commits on Feb 11, 2026