README and fixes

hitbg-yjm · Aug 6, 2018 · 1350ade · 1350ade
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diff --git a/.gitignore b/.gitignore
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diff --git a/01- ROS and Sensor Fusion Tutorial.md → 01 - ROS and Sensor Fusion Tutorial.md b/01- ROS and Sensor Fusion Tutorial.md → 01 - ROS and Sensor Fusion Tutorial.md
@@ -66,7 +66,7 @@ In other words, the odometry data (gathered from sensors), and pose estimates (f
 
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-There are two kinds of pose estimates, one for the robot's local position (which is continuous drifts over time), and one of the robot's estimated position globally (which is discontinuous but more accurate in the long run).
+There are two kinds of pose estimates, one for the robot's local position (which is continuous and drifts over time), and one of the robot's estimated position globally (which is discontinuous but more accurate in the long run).
 
 And these pose estimates affect **different** transforms between the three coordinate frames of the map, odom and base_link frames.
 

diff --git a/02 - Global Pose Estimate Fusion (Example Implementation).md b/02 - Global Pose Estimate Fusion (Example Implementation).md
@@ -755,7 +755,7 @@ Remember this? Change x, y, z, and yaw to fit your purposes.
 
 
 
-### **2.7 Configure AMCL <a name="2.7></a>**
+### **2.7 Configure AMCL <a name="2.7"></a>**
 
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@@ -963,7 +963,7 @@ initial_estimate_covariance: [1e-4, 0,    0,    0,    0,    0,    0,    0,    0,
 
 
 
-### 2.9 Tune the Covariances <a name="2.9></a>
+### 2.9 Tune the Covariances <a name="2.9"></a>
 
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@@ -1047,7 +1047,7 @@ pose_covariance: [0.1404, 0, 0, 0, 0, 0,
 
 
 
-### 2.10 Validate the Sensor Fusion <a name="2.10></a>
+### 2.10 Validate the Sensor Fusion <a name="2.10"></a>
 
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@@ -1082,6 +1082,25 @@ If it works really well, then congratulations! We're good to build **more marvel
 
 
 
+#### **What you should see:**
+
+1. When you run `$ rosrun tf view_frames` **you should get the following frame diagram** (or something close to it)
+   ![TF Frames](assets/2_30.png)
+
+2. **The following nodes should have been added** (check using `$rosrun rqt_graph rqt_graph`)
+
+   - hedge_msg_adapter
+   - hedge_pose
+   - amcl_pose
+   - ekf_localization_map
+
+
+   ![rqt_graph](assets/2_31.png)
+
+   ![Detailed view](assets/2_32.png)
+
+
+
 
 
 CH3EERS!

diff --git a/Example Implementation/ros-indoor-gps-fusion b/Example Implementation/ros-indoor-gps-fusion
diff --git a/HOW TO USE THIS TUTORIAL b/HOW TO USE THIS TUTORIAL
diff --git a/README.md b/README.md
@@ -1,2 +1,32 @@
-# ros-sensor-fusion-tutorial
-An in-depth step-by-step tutorial for implementing sensor fusion with robot_localization!
+# Sensor Fusion in ROS
+[![Click to watch video!](assets/youtube_thumbnail.png)](https://youtu.be/5vZOvISwT94)
+
+An in-depth step-by-step tutorial for implementing sensor fusion with extended Kalman filter nodes from robot_localization! Basic concepts like covariance and Kalman filters are explained here!
+
+This tutorial is especially useful because there hasn't been a full end-to-end implementation tutorial for sensor fusion with the robot_localization package yet.
+
+You can find the implementation in the Example Implementation folder!
+
+
+
+### Why fuse sensor data
+
+A lot of times, the individual navigation stack components in a robot application can fail more often than not, but together, they form a more robust whole than not.
+
+One way to do this is with the extended Kalman filter from the [robot_localization](http://wiki.ros.org/robot_localization) package. The package features a relatively simple ROS interface to help you fuse and configure your sensors, so that's what we'll be using!
+
+
+
+### How to use this tutorial
+
+1. Make sure you're caught up on [ROS](https://github.com/methylDragon/coding-notes/tree/master/Robot%20Operating%20System%20(ROS)/ROS)
+2. It'll be good to read the [Marvelmind Indoor 'GPS' beacon tutorial](https://github.com/methylDragon/marvelmind-indoor-gps-tutorial) alongside this if you want to understand the example implementation
+3. Likewise for the [Linorobot stack](https://linorobot.org)
+4. And [AMCL](http://wiki.ros.org/amcl)
+5. Then go ahead and follow the tutorial in order!
+
+
+
+------
+
+ [![Yeah! Buy the DRAGON a COFFEE!](assets/COFFEE%20BUTTON%20%E3%83%BE(%C2%B0%E2%88%87%C2%B0%5E).png)](https://www.buymeacoffee.com/methylDragon)
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