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[fix] Add a temporal window to estimate velocity

Julia Sanchez requested to merge WindowVelocityEstimation into master

  • The Lidar SLAM angular estimation is not smooth enough to estimate accurately local velocity.

  • The velocity estimation is smoothed, using a temporal window parameterizable in seconds.

  • In PV, loggingTimeout param follows WindowTime param as it is not settable from UI

  • In ROS, the user has to choose a loggingTimeout value g.t. WindowTime param manually. If not, a warning is raised and the estimation is based on the current stored poses.

  • Here are the comparison on car_loop of the angular accelerations (above: previous version, below: with 0.5s time window) AngularAccelerations

@nicolas.cadart PTAL

Edited by Julia Sanchez

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