EKF SLAM by Subin

ATE Evaluation

The package provides a simple script to compare the SLAM trajectory with the simulation ground truth. The node listens to /odom for ground truth and /slam_odom published by slam_node and computes the Absolute Trajectory Error root mean square error (RMSE). The evaluator prints the RMSE and reports the time step with the maximum error. These metrics are also written to ate_metrics.txt. A smoothed plot comparing both trajectories is saved to trajectory_comparison.png.

Run the evaluator after launching the SLAM node:

ros2 run ekf_slam compute_ate.py

Press Ctrl+C to stop recording and output the results.