Missing Visual Odometry update for quadruped robot? about serow

[mrsp]

Hello egordv

Thanks for the feedback!
SEROW was originally designed for biped/humanoid robots where it has been highly effective and optimized for. For the latter case the vertical base position drift is very minimal.
I've added support to quadruped robots via the Invariant Extended Kalman Filter (ImuInEKFQuad). Nevertheless, this filter has not been extensively tested as the biped/humanoid filters, that's why some filter updates are commented - marked as TODO -

The safer and tested way is to follow a similar logic to the humanoid_ekf.cpp for your quadruped robot and use the ImuEKF where you can provide velocity updates from the SEROW leg odometry (DeadReckoningQuad.h) which is highly accurate
and subscribe to your visual odometry topic to update the ImuEKF base position/orientation with the updateWithOdom function with useOutlierDetection = false .