covariance

catkin_ws/src/asclinic_pkg/src/Kalman.cpp

@@ -227,9 +227,9 @@ int main(int argc, char **argv) {
                         1, 1, 1,
                         1, 1, 1;
 
-    z_cov <<  1, 1, 1,
-              1, 1, 1,
-              1, 1, 1;
+    z_cov <<  5, 5, 5,
+              5, 5, 5,
+              5, 5, 5;
 
     m_subscriber = nh.subscribe("/asc/encoder_counts", 1, answer);
     image_subscriber = nh.subscribe("/image_estimation", 1, ImageAnswer);