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small offsets in UKF odometry VS input odometry #191

@7DoF

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@7DoF

Hi, I'm running the UKF code with LIO odometry and raw IMU data. the thing is, everything is working well except, there are small offsets in UKF output odometry and my LIO odometry.
image

in this image: orange plot is LIO odometry (/Odometry/pose/pose/position/z) and pink plot is UKF output odometry plot(/odom_prop/pose/pose/position/z)

this offset constantly increases from takeoff and becomes constant later on (at a value of 15-23cm)

there is a similar thing happening in x direction as well but the offset value is just 8cm there, and there is almost no such offset in y direction.

I've tried changing the UKF config but there is not any visible change in offsets (max offset is still 23cm in z direction)

Any help is appreciated.

Thanks.

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