UoS-ros-setup/catkin_ws/src/challenge1 at main · frankcholula/UoS-ros-setup
Kalman Filter tuning can be achieved through a trial and error basis! It is perfectly fine to tune by feel, though it might not yield analytically optimal results, and can be tedious. (This was my approach though.) If a sensor axis seems to be less reliable, or you wish to have the Kalman Filter converge less on a particular sensor's axis, bump up the covariance to reduce the influence that sensor has on the state estimate.