state-estimator-evaluate-bags

What problem does it solve?

This Skill automates the evaluation of the Moleworks ROS2 mole_estimator by replaying recorded datasets, generating performance metrics, and summarizing findings for tuning.

Core Features & Use Cases

• Automated Bag Reprocessing: Replays sensor bags through the estimator and records evaluation data.
• Offline Analysis: Runs an analyzer on the reprocessed bags to generate per-bag metrics.
• Summary Reporting: Creates a markdown report and summary table for tuning turn-joint filtering and base velocity smoothness.
• Comparison Tool: Compares metrics from two different runs to highlight improvements or regressions.

Quick Start

Use the state-estimator-evaluate-bags skill to replay the *_sensors bags through mole_estimator, record eval bags, and update the metrics markdown and summary table.