Estimation manager vs mrs_uav_odometry and mrs_mins_core

[migsdigs]

Hi there,

I am curious as to whether mrs_uav_odometry or mrs_mins_core are still being used or this functionality is now deprecated. From reading the repository READMEs it looks like they both provide functionality to fuse sensor measurements using various filters to obtain a better state estimate that can then be passed to the controller.

I noticed that the mrs_mins_core and its submodules are included by default in the mrs docker, but the mrs_uav_odometry module is not, is this due to deprecation?
Are both of these modules designed to be used on top of the MRS Estimation Manager, or how are these different modules supposed to interact?

Thank you very much for reading this, I look forward to hearing from you.
Kind regards

[klaxalk]

Hey,

the mrs_uav_odometry is deprecated (approx 2 years ago). It was replaced by the Estimation Manager (within github.com/ctu-mrs/mrs_uav_managers) which loads individual estimators as plugins (similarly to how controllers and trackers are loaded). The "default" core estimators are provided by this package: https://github.com/ctu-mrs/mrs_uav_state_estimators. Other thirdparty and non-core estimators can be also provided by packages outside of the system core, just like it is with the MINS Core, Open VINS Core, Aloam Core, etc.

Kind regarrds,
Tomas

[migsdigs]

Hi @klaxalk, thank you for getting back to me so promptly!

Thanks for clarifying, I did not realize that MINS was another third-party estimator, rather I thought it was being used to fuse several estimators (core and non-core).

Best regards,
Miguel