From 1cb496cb4d4c7209eacce5e591fd14f3b0714522 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Wed, 29 Sep 2021 14:04:09 +0200
Subject: [PATCH] different configs comparative
---
...rpa_positioning_rosbag_second_field.launch | 90 ++++++++++
yaml/M600a/processor_gnss.yaml | 2 +-
yaml/M600b/params_2.yaml | 166 ++++++++++++++++++
yaml/M600b/params_3.yaml | 166 ++++++++++++++++++
yaml/M600b/params_4.yaml | 166 ++++++++++++++++++
yaml/M600b/processor_gnss.yaml | 2 +-
yaml/M600b/processor_gnss_2.yaml | 45 +++++
yaml/M600b/processor_gnss_3.yaml | 45 +++++
yaml/M600b/processor_gnss_4.yaml | 45 +++++
yaml/atlantic/params_2.yaml | 166 ++++++++++++++++++
yaml/atlantic/params_3.yaml | 166 ++++++++++++++++++
yaml/atlantic/params_4.yaml | 166 ++++++++++++++++++
yaml/atlantic/processor_gnss.yaml | 2 +-
yaml/atlantic/processor_gnss_2.yaml | 45 +++++
yaml/atlantic/processor_gnss_3.yaml | 45 +++++
yaml/atlantic/processor_gnss_4.yaml | 45 +++++
yaml/scrab/params_2.yaml | 166 ++++++++++++++++++
yaml/scrab/params_3.yaml | 166 ++++++++++++++++++
yaml/scrab/params_4.yaml | 166 ++++++++++++++++++
yaml/scrab/processor_gnss.yaml | 2 +-
yaml/scrab/processor_gnss_2.yaml | 45 +++++
yaml/scrab/processor_gnss_3.yaml | 45 +++++
yaml/scrab/processor_gnss_4.yaml | 45 +++++
yaml/subscriber_gnss_ublox.yaml | 2 +-
yaml/subscriber_gnss_ublox_2.yaml | 24 +++
yaml/subscriber_gnss_ublox_3.yaml | 24 +++
yaml/subscriber_gnss_ublox_4.yaml | 24 +++
27 files changed, 2066 insertions(+), 5 deletions(-)
create mode 100644 launch/rpa_positioning_rosbag_second_field.launch
create mode 100644 yaml/M600b/params_2.yaml
create mode 100644 yaml/M600b/params_3.yaml
create mode 100644 yaml/M600b/params_4.yaml
create mode 100644 yaml/M600b/processor_gnss_2.yaml
create mode 100644 yaml/M600b/processor_gnss_3.yaml
create mode 100644 yaml/M600b/processor_gnss_4.yaml
create mode 100644 yaml/atlantic/params_2.yaml
create mode 100644 yaml/atlantic/params_3.yaml
create mode 100644 yaml/atlantic/params_4.yaml
create mode 100644 yaml/atlantic/processor_gnss_2.yaml
create mode 100644 yaml/atlantic/processor_gnss_3.yaml
create mode 100644 yaml/atlantic/processor_gnss_4.yaml
create mode 100644 yaml/scrab/params_2.yaml
create mode 100644 yaml/scrab/params_3.yaml
create mode 100644 yaml/scrab/params_4.yaml
create mode 100644 yaml/scrab/processor_gnss_2.yaml
create mode 100644 yaml/scrab/processor_gnss_3.yaml
create mode 100644 yaml/scrab/processor_gnss_4.yaml
create mode 100644 yaml/subscriber_gnss_ublox_2.yaml
create mode 100644 yaml/subscriber_gnss_ublox_3.yaml
create mode 100644 yaml/subscriber_gnss_ublox_4.yaml
diff --git a/launch/rpa_positioning_rosbag_second_field.launch b/launch/rpa_positioning_rosbag_second_field.launch
new file mode 100644
index 0000000..0134d81
--- /dev/null
+++ b/launch/rpa_positioning_rosbag_second_field.launch
@@ -0,0 +1,90 @@
+<!-- -->
+<launch>
+ <arg name="rviz" default="true" />
+
+ <arg name="record_output" default="true" />
+
+ <arg name="speed" default="1" />
+ <arg name="sec" default="0" />
+
+ <arg name="profiling" default="false" />
+ <arg name="gdb" default="false" />
+ <arg name="launch_pref" default="" unless="$(eval profiling or gdb)"/>
+ <arg name="launch_pref" value="valgrind --tool=callgrind --callgrind-out-file='callgrind.wolf.%p'" if="$(arg profiling)" />
+ <arg name="launch_pref" value="gdb -ex run --args" if="$(arg gdb)" />
+
+ <!-- using "clock" option to use the simulated time. Rosbag launch as the first node -->
+ <param name="use_sim_time" value="true" />
+
+ <arg name="bag_path" default="/media/joanvallve/second_field_inta/selected"/>
+
+ <arg name="flight" default="atlantic_16" />
+
+ <arg name="bag_suffix" value="atlantic_2021-09-16-09-04-43" if="$(eval flight == 'atlantic_16')" />
+ <arg name="bag_suffix" value="atlantic_2021-09-17-09-22-47" if="$(eval flight == 'atlantic_17')" />
+ <arg name="bag_suffix" value="M600b_2021-09-16-12-25-14" if="$(eval flight == 'M600b_16_1')" />
+ <arg name="bag_suffix" value="M600b_2021-09-16-14-41-46" if="$(eval flight == 'M600b_16_2')" />
+ <arg name="bag_suffix" value="M600b_2021-09-17-11-00-51" if="$(eval flight == 'M600b_17_1')" />
+ <arg name="bag_suffix" value="M600b_2021-09-17-11-31-55" if="$(eval flight == 'M600b_17_2')" />
+ <arg name="bag_suffix" value="scrab_2021-09-16-11-25-23" if="$(eval flight == 'scrab_16')" />
+ <arg name="bag_suffix" value="scrab_2021-09-17-09-59-32" if="$(eval flight == 'scrab_17')" />
+
+ <arg name="platform" value="atlantic" if="$(eval flight == 'atlantic_16' or flight == 'atlantic_17')" />
+ <arg name="platform" value="M600b" if="$(eval flight == 'M600b_16_1' or flight == 'M600b_16_2' or flight == 'M600b_17_1' or flight == 'M600b_17_2')" />
+ <arg name="platform" value="scrab" if="$(eval flight == 'scrab_16' or flight == 'scrab_17')" />
+
+ <arg name="conf_gnss" default="1" />
+
+ <arg name="yaml" value="params" if="$(eval conf_gnss == 1)" />
+ <arg name="yaml" value="params_2" if="$(eval conf_gnss == 2)" />
+ <arg name="yaml" value="params_3" if="$(eval conf_gnss == 3)" />
+ <arg name="yaml" value="params_4" if="$(eval conf_gnss == 4)" />
+
+ <!--POSITIONING-->
+ <include file="$(find gauss_ros)/launch/rpa_positioning.launch">
+ <arg name="platform" value="$(arg platform)"/>
+ <arg name="launch_pref" value="$(arg launch_pref)"/>
+ <arg name="yaml" value="$(arg yaml)"/>
+ </include>
+
+ <!--VISUALIZATION-->
+ <group if="$(arg rviz)">
+ <node name="rviz"
+ pkg="rviz"
+ type="rviz"
+ args="-d $(find gauss_ros)/rviz/positioning_rosbag.rviz" />
+ </group>
+
+ <!--ROSBAG PLAY-->
+ <node pkg="rosbag"
+ type="play"
+ name="player"
+ required="true"
+ args="-r $(arg speed)
+ -s $(arg sec)
+ --clock
+ $(arg bag_path)/rpa_sensors_$(arg bag_suffix).bag">
+ </node>
+
+ <!--ROSBAG RECORD OUTPUT-->
+ <group if="$(arg record_output)">
+ <node pkg="rosbag"
+ type="record"
+ name="recorder"
+ required="true"
+ args="/clock
+ /wolf_ros_node/rpa_imu_gnss_positioning
+ /wolf_ros_node/rpa_positioning_info
+ /wolf_ros_node/rpa_state_info
+ /tf
+ /tf_static
+ /alarm_data
+ -O $(arg bag_path)/rpa_output_$(arg bag_suffix)_conf$(arg conf_gnss).bag">
+ <!--/wolf_ros_node/current_pose_marker
+ /wolf_ros_node/graph_factors
+ /wolf_ros_node/graph_landmarks
+ /wolf_ros_node/graph_trajectory-->
+ </node>
+ </group>
+
+</launch>
diff --git a/yaml/M600a/processor_gnss.yaml b/yaml/M600a/processor_gnss.yaml
index 8712d1a..f9016bd 100644
--- a/yaml/M600a/processor_gnss.yaml
+++ b/yaml/M600a/processor_gnss.yaml
@@ -24,7 +24,7 @@ gnss:
constellations:
GPS: true
SBS: false
- GLO: true
+ GLO: false
GAL: true
QZS: false
CMP: false
diff --git a/yaml/M600b/params_2.yaml b/yaml/M600b/params_2.yaml
new file mode 100644
index 0000000..9a39a1e
--- /dev/null
+++ b/yaml/M600b/params_2.yaml
@@ -0,0 +1,166 @@
+config:
+ debug:
+ profiling: true
+ profiling_file: "~/profiling_M600b.txt"
+ print_problem: false
+ print_period: 1
+ print_depth: 4
+ print_constr_by: false
+ print_metric: true
+ print_state_blocks: false
+
+ problem:
+ frame_structure: "POV"
+ dimension: 3
+ tree_manager:
+ follow: "../tree_manager/sliding_window_20_0.yaml"
+ prior:
+ follow: "../prior/POV_fix.yaml"
+
+ solver:
+ max_num_iterations: 20
+ verbose: 0
+ period: 0.0
+ n_threads: 2
+ update_immediately: false
+ min_num_iterations: 5 #if update immediately
+ compute_cov: true
+ cov_enum: 3
+ cov_period: 1
+
+ map:
+ type: "MapBase"
+ plugin: "core"
+
+ sensors:
+ -
+ type: "SensorImu"
+ name: "IMU_odometer"
+ plugin: "imu"
+ follow: "../sensor_bno.yaml"
+ #-
+ # type: "SensorCompass"
+ # name: "compass"
+ # plugin: "imu"
+ # follow: "sensor_bno_compass.yaml"
+ -
+ type: "SensorGnss"
+ name: "gnss"
+ plugin: "gnss"
+ extrinsic:
+ pose: [0.0, 0.0, 0.28] # M600
+ follow: "../sensor_f9t.yaml"
+
+ processors:
+ -
+ type: "ProcessorImu"
+ name: "processor IMU"
+ sensor_name: "IMU_odometer"
+ plugin: "imu"
+ follow: "../processor_imu.yaml"
+ #-
+ # type: "ProcessorCompass"
+ # name: "processor compass"
+ # sensor_name: "compass"
+ # plugin: "imu"
+ # follow: "../processor_compass.yaml"
+ -
+ type: "ProcessorTrackerGnss"
+ name: "processor gnss"
+ sensor_name: "gnss"
+ plugin: "gnss"
+ follow: "processor_gnss_2.yaml"
+ -
+ type: "ProcessorFixWingModel"
+ name: "processor fix wing"
+ sensor_name: "IMU_odometer"
+ plugin: "core"
+ follow: "processor_fix_wing.yaml"
+
+ ROS subscriber:
+ -
+ type: "SubscriberGnssUblox"
+ topic: "/ublox_gps/raw_data_stream"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ follow: "../subscriber_gnss_ublox_2.yaml"
+ -
+ type: "SubscriberImuEnableable"
+ topic: "/bno055_imu/imu"
+ sensor_name: "IMU_odometer"
+ package: "wolf_ros_imu"
+ follow: "subscriber_imu.yaml"
+ #-
+ # type: "SubscriberCompass"
+ # topic: "/bno055_imu/magnetometer"
+ # sensor_name: "compass"
+ # package: "wolf_ros_imu"
+ # follow: "subscriber_imu.yaml"
+ -
+ type: "SubscriberGnssFixPublisherEcef"
+ topic: "/ublox_gps/fix"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ marker_color: [0,0,1,1]
+ line_size: 0.2
+ period: 0.2
+ max_points: 10000
+
+ ROS publisher:
+ -
+ type: "PublisherRpaStateInfo"
+ topic: "rpa_state_info"
+ package: "wolf_ros_gauss"
+ period: 0.5
+ follow: "publisher_rpa_state_info.yaml"
+ -
+ type: "PublisherRpaPositioningInfo"
+ topic: "rpa_positioning_info"
+ package: "wolf_ros_gauss"
+ period: 0.5
+ sensor: "gnss"
+ -
+ type: "PublisherRpaImuGnssPositioning"
+ topic: "rpa_imu_gnss_positioning"
+ package: "wolf_ros_gauss"
+ period: 0.1
+ sensor: "gnss"
+ -
+ type: "PublisherPose"
+ topic: "current_pose"
+ package: "wolf_ros_node"
+ marker_color: [1,0,0,1]
+ line_size: 0.2
+ period: 0.2
+ extrinsics: true
+ sensor: "gnss"
+ frame_id: "ENU"
+ max_points: 10000
+ -
+ type: "PublisherGnssTf"
+ topic: " "
+ package: "wolf_ros_gnss"
+ period: 0.01
+ sensor_gnss_name: "gnss"
+ -
+ type: "PublisherTf"
+ topic: " "
+ package: "wolf_ros_node"
+ period: 0.2
+ map_frame_id: "map"
+ odom_frame_id: "odom"
+ base_frame_id: "base"
+ publish_odom_tf: false
+ -
+ type: "PublisherGraph"
+ topic: "graph"
+ package: "wolf_ros_node"
+ period: 0.2
+ text_scale: 2
+ viz_scale: 2
+ -
+ type: "PublisherTrackerGnssInfo"
+ topic: "gnss_tracker"
+ package: "wolf_ros_gnss"
+ period: 0.2
+ processor_gnss: "processor gnss"
\ No newline at end of file
diff --git a/yaml/M600b/params_3.yaml b/yaml/M600b/params_3.yaml
new file mode 100644
index 0000000..0a929de
--- /dev/null
+++ b/yaml/M600b/params_3.yaml
@@ -0,0 +1,166 @@
+config:
+ debug:
+ profiling: true
+ profiling_file: "~/profiling_M600b.txt"
+ print_problem: false
+ print_period: 1
+ print_depth: 4
+ print_constr_by: false
+ print_metric: true
+ print_state_blocks: false
+
+ problem:
+ frame_structure: "POV"
+ dimension: 3
+ tree_manager:
+ follow: "../tree_manager/sliding_window_20_0.yaml"
+ prior:
+ follow: "../prior/POV_fix.yaml"
+
+ solver:
+ max_num_iterations: 20
+ verbose: 0
+ period: 0.0
+ n_threads: 2
+ update_immediately: false
+ min_num_iterations: 5 #if update immediately
+ compute_cov: true
+ cov_enum: 3
+ cov_period: 1
+
+ map:
+ type: "MapBase"
+ plugin: "core"
+
+ sensors:
+ -
+ type: "SensorImu"
+ name: "IMU_odometer"
+ plugin: "imu"
+ follow: "../sensor_bno.yaml"
+ #-
+ # type: "SensorCompass"
+ # name: "compass"
+ # plugin: "imu"
+ # follow: "sensor_bno_compass.yaml"
+ -
+ type: "SensorGnss"
+ name: "gnss"
+ plugin: "gnss"
+ extrinsic:
+ pose: [0.0, 0.0, 0.28] # M600
+ follow: "../sensor_f9t.yaml"
+
+ processors:
+ -
+ type: "ProcessorImu"
+ name: "processor IMU"
+ sensor_name: "IMU_odometer"
+ plugin: "imu"
+ follow: "../processor_imu.yaml"
+ #-
+ # type: "ProcessorCompass"
+ # name: "processor compass"
+ # sensor_name: "compass"
+ # plugin: "imu"
+ # follow: "../processor_compass.yaml"
+ -
+ type: "ProcessorTrackerGnss"
+ name: "processor gnss"
+ sensor_name: "gnss"
+ plugin: "gnss"
+ follow: "processor_gnss_3.yaml"
+ -
+ type: "ProcessorFixWingModel"
+ name: "processor fix wing"
+ sensor_name: "IMU_odometer"
+ plugin: "core"
+ follow: "processor_fix_wing.yaml"
+
+ ROS subscriber:
+ -
+ type: "SubscriberGnssUblox"
+ topic: "/ublox_gps/raw_data_stream"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ follow: "../subscriber_gnss_ublox_3.yaml"
+ -
+ type: "SubscriberImuEnableable"
+ topic: "/bno055_imu/imu"
+ sensor_name: "IMU_odometer"
+ package: "wolf_ros_imu"
+ follow: "subscriber_imu.yaml"
+ #-
+ # type: "SubscriberCompass"
+ # topic: "/bno055_imu/magnetometer"
+ # sensor_name: "compass"
+ # package: "wolf_ros_imu"
+ # follow: "subscriber_imu.yaml"
+ -
+ type: "SubscriberGnssFixPublisherEcef"
+ topic: "/ublox_gps/fix"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ marker_color: [0,0,1,1]
+ line_size: 0.2
+ period: 0.2
+ max_points: 10000
+
+ ROS publisher:
+ -
+ type: "PublisherRpaStateInfo"
+ topic: "rpa_state_info"
+ package: "wolf_ros_gauss"
+ period: 0.5
+ follow: "publisher_rpa_state_info.yaml"
+ -
+ type: "PublisherRpaPositioningInfo"
+ topic: "rpa_positioning_info"
+ package: "wolf_ros_gauss"
+ period: 0.5
+ sensor: "gnss"
+ -
+ type: "PublisherRpaImuGnssPositioning"
+ topic: "rpa_imu_gnss_positioning"
+ package: "wolf_ros_gauss"
+ period: 0.1
+ sensor: "gnss"
+ -
+ type: "PublisherPose"
+ topic: "current_pose"
+ package: "wolf_ros_node"
+ marker_color: [1,0,0,1]
+ line_size: 0.2
+ period: 0.2
+ extrinsics: true
+ sensor: "gnss"
+ frame_id: "ENU"
+ max_points: 10000
+ -
+ type: "PublisherGnssTf"
+ topic: " "
+ package: "wolf_ros_gnss"
+ period: 0.01
+ sensor_gnss_name: "gnss"
+ -
+ type: "PublisherTf"
+ topic: " "
+ package: "wolf_ros_node"
+ period: 0.2
+ map_frame_id: "map"
+ odom_frame_id: "odom"
+ base_frame_id: "base"
+ publish_odom_tf: false
+ -
+ type: "PublisherGraph"
+ topic: "graph"
+ package: "wolf_ros_node"
+ period: 0.2
+ text_scale: 2
+ viz_scale: 2
+ -
+ type: "PublisherTrackerGnssInfo"
+ topic: "gnss_tracker"
+ package: "wolf_ros_gnss"
+ period: 0.2
+ processor_gnss: "processor gnss"
\ No newline at end of file
diff --git a/yaml/M600b/params_4.yaml b/yaml/M600b/params_4.yaml
new file mode 100644
index 0000000..e44bb5a
--- /dev/null
+++ b/yaml/M600b/params_4.yaml
@@ -0,0 +1,166 @@
+config:
+ debug:
+ profiling: true
+ profiling_file: "~/profiling_M600b.txt"
+ print_problem: false
+ print_period: 1
+ print_depth: 4
+ print_constr_by: false
+ print_metric: true
+ print_state_blocks: false
+
+ problem:
+ frame_structure: "POV"
+ dimension: 3
+ tree_manager:
+ follow: "../tree_manager/sliding_window_20_0.yaml"
+ prior:
+ follow: "../prior/POV_fix.yaml"
+
+ solver:
+ max_num_iterations: 20
+ verbose: 0
+ period: 0.0
+ n_threads: 2
+ update_immediately: false
+ min_num_iterations: 5 #if update immediately
+ compute_cov: true
+ cov_enum: 3
+ cov_period: 1
+
+ map:
+ type: "MapBase"
+ plugin: "core"
+
+ sensors:
+ -
+ type: "SensorImu"
+ name: "IMU_odometer"
+ plugin: "imu"
+ follow: "../sensor_bno.yaml"
+ #-
+ # type: "SensorCompass"
+ # name: "compass"
+ # plugin: "imu"
+ # follow: "sensor_bno_compass.yaml"
+ -
+ type: "SensorGnss"
+ name: "gnss"
+ plugin: "gnss"
+ extrinsic:
+ pose: [0.0, 0.0, 0.28] # M600
+ follow: "../sensor_f9t.yaml"
+
+ processors:
+ -
+ type: "ProcessorImu"
+ name: "processor IMU"
+ sensor_name: "IMU_odometer"
+ plugin: "imu"
+ follow: "../processor_imu.yaml"
+ #-
+ # type: "ProcessorCompass"
+ # name: "processor compass"
+ # sensor_name: "compass"
+ # plugin: "imu"
+ # follow: "../processor_compass.yaml"
+ -
+ type: "ProcessorTrackerGnss"
+ name: "processor gnss"
+ sensor_name: "gnss"
+ plugin: "gnss"
+ follow: "processor_gnss_4.yaml"
+ -
+ type: "ProcessorFixWingModel"
+ name: "processor fix wing"
+ sensor_name: "IMU_odometer"
+ plugin: "core"
+ follow: "processor_fix_wing.yaml"
+
+ ROS subscriber:
+ -
+ type: "SubscriberGnssUblox"
+ topic: "/ublox_gps/raw_data_stream"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ follow: "../subscriber_gnss_ublox_4.yaml"
+ -
+ type: "SubscriberImuEnableable"
+ topic: "/bno055_imu/imu"
+ sensor_name: "IMU_odometer"
+ package: "wolf_ros_imu"
+ follow: "subscriber_imu.yaml"
+ #-
+ # type: "SubscriberCompass"
+ # topic: "/bno055_imu/magnetometer"
+ # sensor_name: "compass"
+ # package: "wolf_ros_imu"
+ # follow: "subscriber_imu.yaml"
+ -
+ type: "SubscriberGnssFixPublisherEcef"
+ topic: "/ublox_gps/fix"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ marker_color: [0,0,1,1]
+ line_size: 0.2
+ period: 0.2
+ max_points: 10000
+
+ ROS publisher:
+ -
+ type: "PublisherRpaStateInfo"
+ topic: "rpa_state_info"
+ package: "wolf_ros_gauss"
+ period: 0.5
+ follow: "publisher_rpa_state_info.yaml"
+ -
+ type: "PublisherRpaPositioningInfo"
+ topic: "rpa_positioning_info"
+ package: "wolf_ros_gauss"
+ period: 0.5
+ sensor: "gnss"
+ -
+ type: "PublisherRpaImuGnssPositioning"
+ topic: "rpa_imu_gnss_positioning"
+ package: "wolf_ros_gauss"
+ period: 0.1
+ sensor: "gnss"
+ -
+ type: "PublisherPose"
+ topic: "current_pose"
+ package: "wolf_ros_node"
+ marker_color: [1,0,0,1]
+ line_size: 0.2
+ period: 0.2
+ extrinsics: true
+ sensor: "gnss"
+ frame_id: "ENU"
+ max_points: 10000
+ -
+ type: "PublisherGnssTf"
+ topic: " "
+ package: "wolf_ros_gnss"
+ period: 0.01
+ sensor_gnss_name: "gnss"
+ -
+ type: "PublisherTf"
+ topic: " "
+ package: "wolf_ros_node"
+ period: 0.2
+ map_frame_id: "map"
+ odom_frame_id: "odom"
+ base_frame_id: "base"
+ publish_odom_tf: false
+ -
+ type: "PublisherGraph"
+ topic: "graph"
+ package: "wolf_ros_node"
+ period: 0.2
+ text_scale: 2
+ viz_scale: 2
+ -
+ type: "PublisherTrackerGnssInfo"
+ topic: "gnss_tracker"
+ package: "wolf_ros_gnss"
+ period: 0.2
+ processor_gnss: "processor gnss"
\ No newline at end of file
diff --git a/yaml/M600b/processor_gnss.yaml b/yaml/M600b/processor_gnss.yaml
index 8712d1a..f9016bd 100644
--- a/yaml/M600b/processor_gnss.yaml
+++ b/yaml/M600b/processor_gnss.yaml
@@ -24,7 +24,7 @@ gnss:
constellations:
GPS: true
SBS: false
- GLO: true
+ GLO: false
GAL: true
QZS: false
CMP: false
diff --git a/yaml/M600b/processor_gnss_2.yaml b/yaml/M600b/processor_gnss_2.yaml
new file mode 100644
index 0000000..0af7399
--- /dev/null
+++ b/yaml/M600b/processor_gnss_2.yaml
@@ -0,0 +1,45 @@
+time_tolerance: 0.1
+apply_loss_function: false
+max_new_features: -1 #unlimited
+remove_outliers: true
+remove_outliers_with_fix: true
+outlier_residual_th: 10
+init_frames: false
+pseudo_ranges: true
+fix: false
+enu_map_fix_dist: 5
+keyframe_vote:
+ voting_active: true
+ max_time_span: 0.5
+ min_features_for_keyframe: 0 #4
+gnss:
+ sateph: 0 # satellite ephemeris/clock: EPHOPT_BRDC(0):broadcast ephemeris, EPHOPT_PREC(1): precise ephemeris, EPHOPT_SBAS(2): broadcast + SBAS, EPHOPT_SSRAPC(3): broadcast + SSR_APC, EPHOPT_SSRCOM(4): broadcast + SSR_COM, EPHOPT_LEX(5): QZSS LEX ephemeris, EPHOPT_SBAS2(6):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), EPHOPT_SBAS3(7):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_SBAS2), EPHOPT_SBAS4(8):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_BRDC)
+ ionoopt: 1 # ionosphere option: IONOOPT_OFF(0):correction off, IONOOPT_BRDC(1):broadcast mode, IONOOPT_SBAS(2):SBAS model, IONOOPT_IFLC(3):L1/L2 or L1/L5, IONOOPT_EST(4):estimation, IONOOPT_TEC(5):IONEX TEC model, IONOOPT_QZS(6):QZSS broadcast, IONOOPT_LEX(7):QZSS LEX ionosphere, IONOOPT_STEC(8):SLANT TEC mode, IONOOPT_SBAS2(9):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), IONOOPT_SBAS3(10):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_SBAS2), IONOOPT_SBAS4(8):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_BRDC)
+ tropopt: 1 # troposphere option: (0:correction off,1:Saastamoinen model,2:SBAS model,3:troposphere option: ZTD estimation,4:ZTD+grad estimation,5:ZTD correction,6:ZTD+grad correction)
+ sbascorr: 15 # SBAS option (1:long term correction,2:fast correction,4:ionosphere correction,8:ranging)
+ raim: 1 # apply RAIM
+ elmin: 0.26 # elevation min (rad) = 15 degrees
+ maxgdop: 30 # reject threshold of gdop (ground dilusion of precision)
+ min_sbas_sats: 5 # used in case of EPHOPT_SBAS3, EPHOPT_SBAS4, IONOOPT_SBAS3, IONOOPT_SBAS4
+ constellations:
+ GPS: true
+ SBS: false
+ GLO: false
+ GAL: true
+ QZS: false
+ CMP: false
+ IRN: false
+ LEO: false
+ tdcp:
+ enabled: true
+ structure: consecutive
+ corr_iono: true
+ corr_tropo: true
+ corr_clock: true
+ loss_function: false
+ time_window: 10 # s
+ sigma_atm: 0.0016 #1.6mm/sqrt(s) # m/sqrt(s)
+ sigma_carrier: 0.0011 #1.1mm/sqrt(s) # m
+ multi_freq: false
+ remove_outliers: false
+ batch: false
\ No newline at end of file
diff --git a/yaml/M600b/processor_gnss_3.yaml b/yaml/M600b/processor_gnss_3.yaml
new file mode 100644
index 0000000..0483aec
--- /dev/null
+++ b/yaml/M600b/processor_gnss_3.yaml
@@ -0,0 +1,45 @@
+time_tolerance: 0.1
+apply_loss_function: false
+max_new_features: -1 #unlimited
+remove_outliers: true
+remove_outliers_with_fix: true
+outlier_residual_th: 10
+init_frames: false
+pseudo_ranges: true
+fix: false
+enu_map_fix_dist: 5
+keyframe_vote:
+ voting_active: true
+ max_time_span: 0.5
+ min_features_for_keyframe: 0 #4
+gnss:
+ sateph: 6 # satellite ephemeris/clock: EPHOPT_BRDC(0):broadcast ephemeris, EPHOPT_PREC(1): precise ephemeris, EPHOPT_SBAS(2): broadcast + SBAS, EPHOPT_SSRAPC(3): broadcast + SSR_APC, EPHOPT_SSRCOM(4): broadcast + SSR_COM, EPHOPT_LEX(5): QZSS LEX ephemeris, EPHOPT_SBAS2(6):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), EPHOPT_SBAS3(7):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_SBAS2), EPHOPT_SBAS4(8):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_BRDC)
+ ionoopt: 9 # ionosphere option: IONOOPT_OFF(0):correction off, IONOOPT_BRDC(1):broadcast mode, IONOOPT_SBAS(2):SBAS model, IONOOPT_IFLC(3):L1/L2 or L1/L5, IONOOPT_EST(4):estimation, IONOOPT_TEC(5):IONEX TEC model, IONOOPT_QZS(6):QZSS broadcast, IONOOPT_LEX(7):QZSS LEX ionosphere, IONOOPT_STEC(8):SLANT TEC mode, IONOOPT_SBAS2(9):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), IONOOPT_SBAS3(10):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_SBAS2), IONOOPT_SBAS4(8):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_BRDC)
+ tropopt: 2 # troposphere option: (0:correction off,1:Saastamoinen model,2:SBAS model,3:troposphere option: ZTD estimation,4:ZTD+grad estimation,5:ZTD correction,6:ZTD+grad correction)
+ sbascorr: 15 # SBAS option (1:long term correction,2:fast correction,4:ionosphere correction,8:ranging)
+ raim: 1 # apply RAIM
+ elmin: 0.26 # elevation min (rad) = 15 degrees
+ maxgdop: 30 # reject threshold of gdop (ground dilusion of precision)
+ min_sbas_sats: 5 # used in case of EPHOPT_SBAS3, EPHOPT_SBAS4, IONOOPT_SBAS3, IONOOPT_SBAS4
+ constellations:
+ GPS: true
+ SBS: false
+ GLO: false
+ GAL: false
+ QZS: false
+ CMP: false
+ IRN: false
+ LEO: false
+ tdcp:
+ enabled: true
+ structure: consecutive
+ corr_iono: true
+ corr_tropo: true
+ corr_clock: true
+ loss_function: false
+ time_window: 10 # s
+ sigma_atm: 0.0016 #1.6mm/sqrt(s) # m/sqrt(s)
+ sigma_carrier: 0.0011 #1.1mm/sqrt(s) # m
+ multi_freq: false
+ remove_outliers: false
+ batch: false
\ No newline at end of file
diff --git a/yaml/M600b/processor_gnss_4.yaml b/yaml/M600b/processor_gnss_4.yaml
new file mode 100644
index 0000000..25c554a
--- /dev/null
+++ b/yaml/M600b/processor_gnss_4.yaml
@@ -0,0 +1,45 @@
+time_tolerance: 0.1
+apply_loss_function: false
+max_new_features: -1 #unlimited
+remove_outliers: true
+remove_outliers_with_fix: true
+outlier_residual_th: 10
+init_frames: false
+pseudo_ranges: true
+fix: false
+enu_map_fix_dist: 5
+keyframe_vote:
+ voting_active: true
+ max_time_span: 0.5
+ min_features_for_keyframe: 0 #4
+gnss:
+ sateph: 0 # satellite ephemeris/clock: EPHOPT_BRDC(0):broadcast ephemeris, EPHOPT_PREC(1): precise ephemeris, EPHOPT_SBAS(2): broadcast + SBAS, EPHOPT_SSRAPC(3): broadcast + SSR_APC, EPHOPT_SSRCOM(4): broadcast + SSR_COM, EPHOPT_LEX(5): QZSS LEX ephemeris, EPHOPT_SBAS2(6):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), EPHOPT_SBAS3(7):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_SBAS2), EPHOPT_SBAS4(8):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_BRDC)
+ ionoopt: 1 # ionosphere option: IONOOPT_OFF(0):correction off, IONOOPT_BRDC(1):broadcast mode, IONOOPT_SBAS(2):SBAS model, IONOOPT_IFLC(3):L1/L2 or L1/L5, IONOOPT_EST(4):estimation, IONOOPT_TEC(5):IONEX TEC model, IONOOPT_QZS(6):QZSS broadcast, IONOOPT_LEX(7):QZSS LEX ionosphere, IONOOPT_STEC(8):SLANT TEC mode, IONOOPT_SBAS2(9):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), IONOOPT_SBAS3(10):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_SBAS2), IONOOPT_SBAS4(8):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_BRDC)
+ tropopt: 1 # troposphere option: (0:correction off,1:Saastamoinen model,2:SBAS model,3:troposphere option: ZTD estimation,4:ZTD+grad estimation,5:ZTD correction,6:ZTD+grad correction)
+ sbascorr: 15 # SBAS option (1:long term correction,2:fast correction,4:ionosphere correction,8:ranging)
+ raim: 1 # apply RAIM
+ elmin: 0.26 # elevation min (rad) = 15 degrees
+ maxgdop: 30 # reject threshold of gdop (ground dilusion of precision)
+ min_sbas_sats: 5 # used in case of EPHOPT_SBAS3, EPHOPT_SBAS4, IONOOPT_SBAS3, IONOOPT_SBAS4
+ constellations:
+ GPS: true
+ SBS: false
+ GLO: false
+ GAL: false
+ QZS: false
+ CMP: false
+ IRN: false
+ LEO: false
+ tdcp:
+ enabled: true
+ structure: consecutive
+ corr_iono: true
+ corr_tropo: true
+ corr_clock: true
+ loss_function: false
+ time_window: 10 # s
+ sigma_atm: 0.0016 #1.6mm/sqrt(s) # m/sqrt(s)
+ sigma_carrier: 0.0011 #1.1mm/sqrt(s) # m
+ multi_freq: false
+ remove_outliers: false
+ batch: false
\ No newline at end of file
diff --git a/yaml/atlantic/params_2.yaml b/yaml/atlantic/params_2.yaml
new file mode 100644
index 0000000..c56406f
--- /dev/null
+++ b/yaml/atlantic/params_2.yaml
@@ -0,0 +1,166 @@
+config:
+ debug:
+ profiling: true
+ profiling_file: "~/profiling_atlantic.txt"
+ print_problem: false
+ print_period: 1
+ print_depth: 4
+ print_constr_by: false
+ print_metric: true
+ print_state_blocks: false
+
+ problem:
+ frame_structure: "POV"
+ dimension: 3
+ tree_manager:
+ follow: "../tree_manager/sliding_window_20_0.yaml"
+ prior:
+ follow: "../prior/POV_fix.yaml"
+
+ solver:
+ max_num_iterations: 20
+ verbose: 0
+ period: 0.0
+ n_threads: 2
+ update_immediately: false
+ min_num_iterations: 5 #if update immediately
+ compute_cov: true
+ cov_enum: 3
+ cov_period: 1
+
+ map:
+ type: "MapBase"
+ plugin: "core"
+
+ sensors:
+ -
+ type: "SensorImu"
+ name: "IMU_odometer"
+ plugin: "imu"
+ follow: "../sensor_bno.yaml"
+ #-
+ # type: "SensorCompass"
+ # name: "compass"
+ # plugin: "imu"
+ # follow: "sensor_bno_compass.yaml"
+ -
+ type: "SensorGnss"
+ name: "gnss"
+ plugin: "gnss"
+ extrinsic:
+ pose: [0,0,0]#[0.30, 0, 0.25] # atlantic
+ follow: "../sensor_f9t.yaml"
+
+ processors:
+ -
+ type: "ProcessorImu"
+ name: "processor IMU"
+ sensor_name: "IMU_odometer"
+ plugin: "imu"
+ follow: "../processor_imu.yaml"
+ #-
+ # type: "ProcessorCompass"
+ # name: "processor compass"
+ # sensor_name: "compass"
+ # plugin: "imu"
+ # follow: "../processor_compass.yaml"
+ -
+ type: "ProcessorTrackerGnss"
+ name: "processor gnss"
+ sensor_name: "gnss"
+ plugin: "gnss"
+ follow: "processor_gnss_2.yaml"
+ -
+ type: "ProcessorFixWingModel"
+ name: "processor fix wing"
+ sensor_name: "IMU_odometer"
+ plugin: "core"
+ follow: "processor_fix_wing.yaml"
+
+ ROS subscriber:
+ -
+ type: "SubscriberGnssUblox"
+ topic: "/ublox_gps/raw_data_stream"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ follow: "../subscriber_gnss_ublox_2.yaml"
+ -
+ type: "SubscriberImuEnableable"
+ topic: "/bno055_imu/imu"
+ sensor_name: "IMU_odometer"
+ package: "wolf_ros_imu"
+ follow: "subscriber_imu.yaml"
+ #-
+ # type: "SubscriberCompass"
+ # topic: "/bno055_imu/magnetometer"
+ # sensor_name: "compass"
+ # package: "wolf_ros_imu"
+ # follow: "subscriber_imu.yaml"
+ -
+ type: "SubscriberGnssFixPublisherEcef"
+ topic: "/ublox_gps/fix"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ marker_color: [0,0,1,1]
+ line_size: 5
+ period: 0.2
+ max_points: 10000
+
+ ROS publisher:
+ -
+ type: "PublisherRpaStateInfo"
+ topic: "rpa_state_info"
+ package: "wolf_ros_gauss"
+ period: 0.5
+ follow: "publisher_rpa_state_info.yaml"
+ -
+ type: "PublisherRpaPositioningInfo"
+ topic: "rpa_positioning_info"
+ package: "wolf_ros_gauss"
+ period: 0.5
+ sensor: "gnss"
+ -
+ type: "PublisherRpaImuGnssPositioning"
+ topic: "rpa_imu_gnss_positioning"
+ package: "wolf_ros_gauss"
+ period: 0.1
+ sensor: "gnss"
+ -
+ type: "PublisherPose"
+ topic: "current_pose"
+ package: "wolf_ros_node"
+ marker_color: [1,0,0,1]
+ line_size: 5
+ period: 0.2
+ extrinsics: true
+ sensor: "gnss"
+ frame_id: "ENU"
+ max_points: 10000
+ -
+ type: "PublisherGnssTf"
+ topic: " "
+ package: "wolf_ros_gnss"
+ period: 0.01
+ sensor_gnss_name: "gnss"
+ -
+ type: "PublisherTf"
+ topic: " "
+ package: "wolf_ros_node"
+ period: 0.2
+ map_frame_id: "map"
+ odom_frame_id: "odom"
+ base_frame_id: "base"
+ publish_odom_tf: false
+ -
+ type: "PublisherGraph"
+ topic: "graph"
+ package: "wolf_ros_node"
+ period: 0.2
+ text_scale: 50
+ viz_scale: 50
+ -
+ type: "PublisherTrackerGnssInfo"
+ topic: "gnss_tracker"
+ package: "wolf_ros_gnss"
+ period: 0.2
+ processor_gnss: "processor gnss"
\ No newline at end of file
diff --git a/yaml/atlantic/params_3.yaml b/yaml/atlantic/params_3.yaml
new file mode 100644
index 0000000..b4de5e3
--- /dev/null
+++ b/yaml/atlantic/params_3.yaml
@@ -0,0 +1,166 @@
+config:
+ debug:
+ profiling: true
+ profiling_file: "~/profiling_atlantic.txt"
+ print_problem: false
+ print_period: 1
+ print_depth: 4
+ print_constr_by: false
+ print_metric: true
+ print_state_blocks: false
+
+ problem:
+ frame_structure: "POV"
+ dimension: 3
+ tree_manager:
+ follow: "../tree_manager/sliding_window_20_0.yaml"
+ prior:
+ follow: "../prior/POV_fix.yaml"
+
+ solver:
+ max_num_iterations: 20
+ verbose: 0
+ period: 0.0
+ n_threads: 2
+ update_immediately: false
+ min_num_iterations: 5 #if update immediately
+ compute_cov: true
+ cov_enum: 3
+ cov_period: 1
+
+ map:
+ type: "MapBase"
+ plugin: "core"
+
+ sensors:
+ -
+ type: "SensorImu"
+ name: "IMU_odometer"
+ plugin: "imu"
+ follow: "../sensor_bno.yaml"
+ #-
+ # type: "SensorCompass"
+ # name: "compass"
+ # plugin: "imu"
+ # follow: "sensor_bno_compass.yaml"
+ -
+ type: "SensorGnss"
+ name: "gnss"
+ plugin: "gnss"
+ extrinsic:
+ pose: [0,0,0]#[0.30, 0, 0.25] # atlantic
+ follow: "../sensor_f9t.yaml"
+
+ processors:
+ -
+ type: "ProcessorImu"
+ name: "processor IMU"
+ sensor_name: "IMU_odometer"
+ plugin: "imu"
+ follow: "../processor_imu.yaml"
+ #-
+ # type: "ProcessorCompass"
+ # name: "processor compass"
+ # sensor_name: "compass"
+ # plugin: "imu"
+ # follow: "../processor_compass.yaml"
+ -
+ type: "ProcessorTrackerGnss"
+ name: "processor gnss"
+ sensor_name: "gnss"
+ plugin: "gnss"
+ follow: "processor_gnss_3.yaml"
+ -
+ type: "ProcessorFixWingModel"
+ name: "processor fix wing"
+ sensor_name: "IMU_odometer"
+ plugin: "core"
+ follow: "processor_fix_wing.yaml"
+
+ ROS subscriber:
+ -
+ type: "SubscriberGnssUblox"
+ topic: "/ublox_gps/raw_data_stream"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ follow: "../subscriber_gnss_ublox_3.yaml"
+ -
+ type: "SubscriberImuEnableable"
+ topic: "/bno055_imu/imu"
+ sensor_name: "IMU_odometer"
+ package: "wolf_ros_imu"
+ follow: "subscriber_imu.yaml"
+ #-
+ # type: "SubscriberCompass"
+ # topic: "/bno055_imu/magnetometer"
+ # sensor_name: "compass"
+ # package: "wolf_ros_imu"
+ # follow: "subscriber_imu.yaml"
+ -
+ type: "SubscriberGnssFixPublisherEcef"
+ topic: "/ublox_gps/fix"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ marker_color: [0,0,1,1]
+ line_size: 5
+ period: 0.2
+ max_points: 10000
+
+ ROS publisher:
+ -
+ type: "PublisherRpaStateInfo"
+ topic: "rpa_state_info"
+ package: "wolf_ros_gauss"
+ period: 0.5
+ follow: "publisher_rpa_state_info.yaml"
+ -
+ type: "PublisherRpaPositioningInfo"
+ topic: "rpa_positioning_info"
+ package: "wolf_ros_gauss"
+ period: 0.5
+ sensor: "gnss"
+ -
+ type: "PublisherRpaImuGnssPositioning"
+ topic: "rpa_imu_gnss_positioning"
+ package: "wolf_ros_gauss"
+ period: 0.1
+ sensor: "gnss"
+ -
+ type: "PublisherPose"
+ topic: "current_pose"
+ package: "wolf_ros_node"
+ marker_color: [1,0,0,1]
+ line_size: 5
+ period: 0.2
+ extrinsics: true
+ sensor: "gnss"
+ frame_id: "ENU"
+ max_points: 10000
+ -
+ type: "PublisherGnssTf"
+ topic: " "
+ package: "wolf_ros_gnss"
+ period: 0.01
+ sensor_gnss_name: "gnss"
+ -
+ type: "PublisherTf"
+ topic: " "
+ package: "wolf_ros_node"
+ period: 0.2
+ map_frame_id: "map"
+ odom_frame_id: "odom"
+ base_frame_id: "base"
+ publish_odom_tf: false
+ -
+ type: "PublisherGraph"
+ topic: "graph"
+ package: "wolf_ros_node"
+ period: 0.2
+ text_scale: 50
+ viz_scale: 50
+ -
+ type: "PublisherTrackerGnssInfo"
+ topic: "gnss_tracker"
+ package: "wolf_ros_gnss"
+ period: 0.2
+ processor_gnss: "processor gnss"
\ No newline at end of file
diff --git a/yaml/atlantic/params_4.yaml b/yaml/atlantic/params_4.yaml
new file mode 100644
index 0000000..72c9a93
--- /dev/null
+++ b/yaml/atlantic/params_4.yaml
@@ -0,0 +1,166 @@
+config:
+ debug:
+ profiling: true
+ profiling_file: "~/profiling_atlantic.txt"
+ print_problem: false
+ print_period: 1
+ print_depth: 4
+ print_constr_by: false
+ print_metric: true
+ print_state_blocks: false
+
+ problem:
+ frame_structure: "POV"
+ dimension: 3
+ tree_manager:
+ follow: "../tree_manager/sliding_window_20_0.yaml"
+ prior:
+ follow: "../prior/POV_fix.yaml"
+
+ solver:
+ max_num_iterations: 20
+ verbose: 0
+ period: 0.0
+ n_threads: 2
+ update_immediately: false
+ min_num_iterations: 5 #if update immediately
+ compute_cov: true
+ cov_enum: 3
+ cov_period: 1
+
+ map:
+ type: "MapBase"
+ plugin: "core"
+
+ sensors:
+ -
+ type: "SensorImu"
+ name: "IMU_odometer"
+ plugin: "imu"
+ follow: "../sensor_bno.yaml"
+ #-
+ # type: "SensorCompass"
+ # name: "compass"
+ # plugin: "imu"
+ # follow: "sensor_bno_compass.yaml"
+ -
+ type: "SensorGnss"
+ name: "gnss"
+ plugin: "gnss"
+ extrinsic:
+ pose: [0,0,0]#[0.30, 0, 0.25] # atlantic
+ follow: "../sensor_f9t.yaml"
+
+ processors:
+ -
+ type: "ProcessorImu"
+ name: "processor IMU"
+ sensor_name: "IMU_odometer"
+ plugin: "imu"
+ follow: "../processor_imu.yaml"
+ #-
+ # type: "ProcessorCompass"
+ # name: "processor compass"
+ # sensor_name: "compass"
+ # plugin: "imu"
+ # follow: "../processor_compass.yaml"
+ -
+ type: "ProcessorTrackerGnss"
+ name: "processor gnss"
+ sensor_name: "gnss"
+ plugin: "gnss"
+ follow: "processor_gnss_4.yaml"
+ -
+ type: "ProcessorFixWingModel"
+ name: "processor fix wing"
+ sensor_name: "IMU_odometer"
+ plugin: "core"
+ follow: "processor_fix_wing.yaml"
+
+ ROS subscriber:
+ -
+ type: "SubscriberGnssUblox"
+ topic: "/ublox_gps/raw_data_stream"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ follow: "../subscriber_gnss_ublox_4.yaml"
+ -
+ type: "SubscriberImuEnableable"
+ topic: "/bno055_imu/imu"
+ sensor_name: "IMU_odometer"
+ package: "wolf_ros_imu"
+ follow: "subscriber_imu.yaml"
+ #-
+ # type: "SubscriberCompass"
+ # topic: "/bno055_imu/magnetometer"
+ # sensor_name: "compass"
+ # package: "wolf_ros_imu"
+ # follow: "subscriber_imu.yaml"
+ -
+ type: "SubscriberGnssFixPublisherEcef"
+ topic: "/ublox_gps/fix"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ marker_color: [0,0,1,1]
+ line_size: 5
+ period: 0.2
+ max_points: 10000
+
+ ROS publisher:
+ -
+ type: "PublisherRpaStateInfo"
+ topic: "rpa_state_info"
+ package: "wolf_ros_gauss"
+ period: 0.5
+ follow: "publisher_rpa_state_info.yaml"
+ -
+ type: "PublisherRpaPositioningInfo"
+ topic: "rpa_positioning_info"
+ package: "wolf_ros_gauss"
+ period: 0.5
+ sensor: "gnss"
+ -
+ type: "PublisherRpaImuGnssPositioning"
+ topic: "rpa_imu_gnss_positioning"
+ package: "wolf_ros_gauss"
+ period: 0.1
+ sensor: "gnss"
+ -
+ type: "PublisherPose"
+ topic: "current_pose"
+ package: "wolf_ros_node"
+ marker_color: [1,0,0,1]
+ line_size: 5
+ period: 0.2
+ extrinsics: true
+ sensor: "gnss"
+ frame_id: "ENU"
+ max_points: 10000
+ -
+ type: "PublisherGnssTf"
+ topic: " "
+ package: "wolf_ros_gnss"
+ period: 0.01
+ sensor_gnss_name: "gnss"
+ -
+ type: "PublisherTf"
+ topic: " "
+ package: "wolf_ros_node"
+ period: 0.2
+ map_frame_id: "map"
+ odom_frame_id: "odom"
+ base_frame_id: "base"
+ publish_odom_tf: false
+ -
+ type: "PublisherGraph"
+ topic: "graph"
+ package: "wolf_ros_node"
+ period: 0.2
+ text_scale: 50
+ viz_scale: 50
+ -
+ type: "PublisherTrackerGnssInfo"
+ topic: "gnss_tracker"
+ package: "wolf_ros_gnss"
+ period: 0.2
+ processor_gnss: "processor gnss"
\ No newline at end of file
diff --git a/yaml/atlantic/processor_gnss.yaml b/yaml/atlantic/processor_gnss.yaml
index 8712d1a..f9016bd 100644
--- a/yaml/atlantic/processor_gnss.yaml
+++ b/yaml/atlantic/processor_gnss.yaml
@@ -24,7 +24,7 @@ gnss:
constellations:
GPS: true
SBS: false
- GLO: true
+ GLO: false
GAL: true
QZS: false
CMP: false
diff --git a/yaml/atlantic/processor_gnss_2.yaml b/yaml/atlantic/processor_gnss_2.yaml
new file mode 100644
index 0000000..0af7399
--- /dev/null
+++ b/yaml/atlantic/processor_gnss_2.yaml
@@ -0,0 +1,45 @@
+time_tolerance: 0.1
+apply_loss_function: false
+max_new_features: -1 #unlimited
+remove_outliers: true
+remove_outliers_with_fix: true
+outlier_residual_th: 10
+init_frames: false
+pseudo_ranges: true
+fix: false
+enu_map_fix_dist: 5
+keyframe_vote:
+ voting_active: true
+ max_time_span: 0.5
+ min_features_for_keyframe: 0 #4
+gnss:
+ sateph: 0 # satellite ephemeris/clock: EPHOPT_BRDC(0):broadcast ephemeris, EPHOPT_PREC(1): precise ephemeris, EPHOPT_SBAS(2): broadcast + SBAS, EPHOPT_SSRAPC(3): broadcast + SSR_APC, EPHOPT_SSRCOM(4): broadcast + SSR_COM, EPHOPT_LEX(5): QZSS LEX ephemeris, EPHOPT_SBAS2(6):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), EPHOPT_SBAS3(7):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_SBAS2), EPHOPT_SBAS4(8):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_BRDC)
+ ionoopt: 1 # ionosphere option: IONOOPT_OFF(0):correction off, IONOOPT_BRDC(1):broadcast mode, IONOOPT_SBAS(2):SBAS model, IONOOPT_IFLC(3):L1/L2 or L1/L5, IONOOPT_EST(4):estimation, IONOOPT_TEC(5):IONEX TEC model, IONOOPT_QZS(6):QZSS broadcast, IONOOPT_LEX(7):QZSS LEX ionosphere, IONOOPT_STEC(8):SLANT TEC mode, IONOOPT_SBAS2(9):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), IONOOPT_SBAS3(10):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_SBAS2), IONOOPT_SBAS4(8):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_BRDC)
+ tropopt: 1 # troposphere option: (0:correction off,1:Saastamoinen model,2:SBAS model,3:troposphere option: ZTD estimation,4:ZTD+grad estimation,5:ZTD correction,6:ZTD+grad correction)
+ sbascorr: 15 # SBAS option (1:long term correction,2:fast correction,4:ionosphere correction,8:ranging)
+ raim: 1 # apply RAIM
+ elmin: 0.26 # elevation min (rad) = 15 degrees
+ maxgdop: 30 # reject threshold of gdop (ground dilusion of precision)
+ min_sbas_sats: 5 # used in case of EPHOPT_SBAS3, EPHOPT_SBAS4, IONOOPT_SBAS3, IONOOPT_SBAS4
+ constellations:
+ GPS: true
+ SBS: false
+ GLO: false
+ GAL: true
+ QZS: false
+ CMP: false
+ IRN: false
+ LEO: false
+ tdcp:
+ enabled: true
+ structure: consecutive
+ corr_iono: true
+ corr_tropo: true
+ corr_clock: true
+ loss_function: false
+ time_window: 10 # s
+ sigma_atm: 0.0016 #1.6mm/sqrt(s) # m/sqrt(s)
+ sigma_carrier: 0.0011 #1.1mm/sqrt(s) # m
+ multi_freq: false
+ remove_outliers: false
+ batch: false
\ No newline at end of file
diff --git a/yaml/atlantic/processor_gnss_3.yaml b/yaml/atlantic/processor_gnss_3.yaml
new file mode 100644
index 0000000..0483aec
--- /dev/null
+++ b/yaml/atlantic/processor_gnss_3.yaml
@@ -0,0 +1,45 @@
+time_tolerance: 0.1
+apply_loss_function: false
+max_new_features: -1 #unlimited
+remove_outliers: true
+remove_outliers_with_fix: true
+outlier_residual_th: 10
+init_frames: false
+pseudo_ranges: true
+fix: false
+enu_map_fix_dist: 5
+keyframe_vote:
+ voting_active: true
+ max_time_span: 0.5
+ min_features_for_keyframe: 0 #4
+gnss:
+ sateph: 6 # satellite ephemeris/clock: EPHOPT_BRDC(0):broadcast ephemeris, EPHOPT_PREC(1): precise ephemeris, EPHOPT_SBAS(2): broadcast + SBAS, EPHOPT_SSRAPC(3): broadcast + SSR_APC, EPHOPT_SSRCOM(4): broadcast + SSR_COM, EPHOPT_LEX(5): QZSS LEX ephemeris, EPHOPT_SBAS2(6):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), EPHOPT_SBAS3(7):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_SBAS2), EPHOPT_SBAS4(8):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_BRDC)
+ ionoopt: 9 # ionosphere option: IONOOPT_OFF(0):correction off, IONOOPT_BRDC(1):broadcast mode, IONOOPT_SBAS(2):SBAS model, IONOOPT_IFLC(3):L1/L2 or L1/L5, IONOOPT_EST(4):estimation, IONOOPT_TEC(5):IONEX TEC model, IONOOPT_QZS(6):QZSS broadcast, IONOOPT_LEX(7):QZSS LEX ionosphere, IONOOPT_STEC(8):SLANT TEC mode, IONOOPT_SBAS2(9):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), IONOOPT_SBAS3(10):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_SBAS2), IONOOPT_SBAS4(8):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_BRDC)
+ tropopt: 2 # troposphere option: (0:correction off,1:Saastamoinen model,2:SBAS model,3:troposphere option: ZTD estimation,4:ZTD+grad estimation,5:ZTD correction,6:ZTD+grad correction)
+ sbascorr: 15 # SBAS option (1:long term correction,2:fast correction,4:ionosphere correction,8:ranging)
+ raim: 1 # apply RAIM
+ elmin: 0.26 # elevation min (rad) = 15 degrees
+ maxgdop: 30 # reject threshold of gdop (ground dilusion of precision)
+ min_sbas_sats: 5 # used in case of EPHOPT_SBAS3, EPHOPT_SBAS4, IONOOPT_SBAS3, IONOOPT_SBAS4
+ constellations:
+ GPS: true
+ SBS: false
+ GLO: false
+ GAL: false
+ QZS: false
+ CMP: false
+ IRN: false
+ LEO: false
+ tdcp:
+ enabled: true
+ structure: consecutive
+ corr_iono: true
+ corr_tropo: true
+ corr_clock: true
+ loss_function: false
+ time_window: 10 # s
+ sigma_atm: 0.0016 #1.6mm/sqrt(s) # m/sqrt(s)
+ sigma_carrier: 0.0011 #1.1mm/sqrt(s) # m
+ multi_freq: false
+ remove_outliers: false
+ batch: false
\ No newline at end of file
diff --git a/yaml/atlantic/processor_gnss_4.yaml b/yaml/atlantic/processor_gnss_4.yaml
new file mode 100644
index 0000000..25c554a
--- /dev/null
+++ b/yaml/atlantic/processor_gnss_4.yaml
@@ -0,0 +1,45 @@
+time_tolerance: 0.1
+apply_loss_function: false
+max_new_features: -1 #unlimited
+remove_outliers: true
+remove_outliers_with_fix: true
+outlier_residual_th: 10
+init_frames: false
+pseudo_ranges: true
+fix: false
+enu_map_fix_dist: 5
+keyframe_vote:
+ voting_active: true
+ max_time_span: 0.5
+ min_features_for_keyframe: 0 #4
+gnss:
+ sateph: 0 # satellite ephemeris/clock: EPHOPT_BRDC(0):broadcast ephemeris, EPHOPT_PREC(1): precise ephemeris, EPHOPT_SBAS(2): broadcast + SBAS, EPHOPT_SSRAPC(3): broadcast + SSR_APC, EPHOPT_SSRCOM(4): broadcast + SSR_COM, EPHOPT_LEX(5): QZSS LEX ephemeris, EPHOPT_SBAS2(6):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), EPHOPT_SBAS3(7):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_SBAS2), EPHOPT_SBAS4(8):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_BRDC)
+ ionoopt: 1 # ionosphere option: IONOOPT_OFF(0):correction off, IONOOPT_BRDC(1):broadcast mode, IONOOPT_SBAS(2):SBAS model, IONOOPT_IFLC(3):L1/L2 or L1/L5, IONOOPT_EST(4):estimation, IONOOPT_TEC(5):IONEX TEC model, IONOOPT_QZS(6):QZSS broadcast, IONOOPT_LEX(7):QZSS LEX ionosphere, IONOOPT_STEC(8):SLANT TEC mode, IONOOPT_SBAS2(9):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), IONOOPT_SBAS3(10):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_SBAS2), IONOOPT_SBAS4(8):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_BRDC)
+ tropopt: 1 # troposphere option: (0:correction off,1:Saastamoinen model,2:SBAS model,3:troposphere option: ZTD estimation,4:ZTD+grad estimation,5:ZTD correction,6:ZTD+grad correction)
+ sbascorr: 15 # SBAS option (1:long term correction,2:fast correction,4:ionosphere correction,8:ranging)
+ raim: 1 # apply RAIM
+ elmin: 0.26 # elevation min (rad) = 15 degrees
+ maxgdop: 30 # reject threshold of gdop (ground dilusion of precision)
+ min_sbas_sats: 5 # used in case of EPHOPT_SBAS3, EPHOPT_SBAS4, IONOOPT_SBAS3, IONOOPT_SBAS4
+ constellations:
+ GPS: true
+ SBS: false
+ GLO: false
+ GAL: false
+ QZS: false
+ CMP: false
+ IRN: false
+ LEO: false
+ tdcp:
+ enabled: true
+ structure: consecutive
+ corr_iono: true
+ corr_tropo: true
+ corr_clock: true
+ loss_function: false
+ time_window: 10 # s
+ sigma_atm: 0.0016 #1.6mm/sqrt(s) # m/sqrt(s)
+ sigma_carrier: 0.0011 #1.1mm/sqrt(s) # m
+ multi_freq: false
+ remove_outliers: false
+ batch: false
\ No newline at end of file
diff --git a/yaml/scrab/params_2.yaml b/yaml/scrab/params_2.yaml
new file mode 100644
index 0000000..6bb69c4
--- /dev/null
+++ b/yaml/scrab/params_2.yaml
@@ -0,0 +1,166 @@
+config:
+ debug:
+ profiling: true
+ profiling_file: "~/profiling_scrab.txt"
+ print_problem: false
+ print_period: 1
+ print_depth: 4
+ print_constr_by: false
+ print_metric: true
+ print_state_blocks: false
+
+ problem:
+ frame_structure: "POV"
+ dimension: 3
+ tree_manager:
+ follow: "../tree_manager/sliding_window_20_0.yaml"
+ prior:
+ follow: "../prior/POV_fix.yaml"
+
+ solver:
+ max_num_iterations: 20
+ verbose: 0
+ period: 0.0
+ n_threads: 2
+ update_immediately: false
+ min_num_iterations: 5 #if update immediately
+ compute_cov: true
+ cov_enum: 3
+ cov_period: 1
+
+ map:
+ type: "MapBase"
+ plugin: "core"
+
+ sensors:
+ -
+ type: "SensorImu"
+ name: "IMU_odometer"
+ plugin: "imu"
+ follow: "../sensor_bno.yaml"
+ #-
+ # type: "SensorCompass"
+ # name: "compass"
+ # plugin: "imu"
+ # follow: "sensor_bno_compass.yaml"
+ -
+ type: "SensorGnss"
+ name: "gnss"
+ plugin: "gnss"
+ extrinsic:
+ pose: [0,0,0]#[1.36, -0.04, 0.280] # BNO055 in rosbag
+ follow: "../sensor_f9t.yaml"
+
+ processors:
+ -
+ type: "ProcessorImu"
+ name: "processor IMU"
+ sensor_name: "IMU_odometer"
+ plugin: "imu"
+ follow: "../processor_imu.yaml"
+ #-
+ # type: "ProcessorCompass"
+ # name: "processor compass"
+ # sensor_name: "compass"
+ # plugin: "imu"
+ # follow: "../processor_compass.yaml"
+ -
+ type: "ProcessorTrackerGnss"
+ name: "processor gnss"
+ sensor_name: "gnss"
+ plugin: "gnss"
+ follow: "processor_gnss_2.yaml"
+ -
+ type: "ProcessorFixWingModel"
+ name: "processor fix wing"
+ sensor_name: "IMU_odometer"
+ plugin: "core"
+ follow: "processor_fix_wing.yaml"
+
+ ROS subscriber:
+ -
+ type: "SubscriberGnssUblox"
+ topic: "/ublox_gps/raw_data_stream"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ follow: "../subscriber_gnss_ublox_2.yaml"
+ -
+ type: "SubscriberImuEnableable"
+ topic: "/bno055_imu/imu"
+ sensor_name: "IMU_odometer"
+ package: "wolf_ros_imu"
+ follow: "subscriber_imu.yaml"
+ #-
+ # type: "SubscriberCompass"
+ # topic: "/bno055_imu/magnetometer"
+ # sensor_name: "compass"
+ # package: "wolf_ros_imu"
+ # follow: "subscriber_imu.yaml"
+ -
+ type: "SubscriberGnssFixPublisherEcef"
+ topic: "/ublox_gps/fix"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ marker_color: [0,0,1,1]
+ line_size: 5
+ period: 0.2
+ max_points: 10000
+
+ ROS publisher:
+ -
+ type: "PublisherRpaStateInfo"
+ topic: "rpa_state_info"
+ package: "wolf_ros_gauss"
+ period: 0.5
+ follow: "publisher_rpa_state_info.yaml"
+ -
+ type: "PublisherRpaPositioningInfo"
+ topic: "rpa_positioning_info"
+ package: "wolf_ros_gauss"
+ period: 0.5
+ sensor: "gnss"
+ -
+ type: "PublisherRpaImuGnssPositioning"
+ topic: "rpa_imu_gnss_positioning"
+ package: "wolf_ros_gauss"
+ period: 0.1
+ sensor: "gnss"
+ -
+ type: "PublisherPose"
+ topic: "current_pose"
+ package: "wolf_ros_node"
+ marker_color: [1,0,0,1]
+ line_size: 5
+ period: 0.2
+ extrinsics: true
+ sensor: "gnss"
+ frame_id: "ENU"
+ max_points: 10000
+ -
+ type: "PublisherGnssTf"
+ topic: " "
+ package: "wolf_ros_gnss"
+ period: 0.01
+ sensor_gnss_name: "gnss"
+ -
+ type: "PublisherTf"
+ topic: " "
+ package: "wolf_ros_node"
+ period: 0.2
+ map_frame_id: "map"
+ odom_frame_id: "odom"
+ base_frame_id: "base"
+ publish_odom_tf: false
+ -
+ type: "PublisherGraph"
+ topic: "graph"
+ package: "wolf_ros_node"
+ period: 0.2
+ text_scale: 50
+ viz_scale: 50
+ -
+ type: "PublisherTrackerGnssInfo"
+ topic: "gnss_tracker"
+ package: "wolf_ros_gnss"
+ period: 0.2
+ processor_gnss: "processor gnss"
\ No newline at end of file
diff --git a/yaml/scrab/params_3.yaml b/yaml/scrab/params_3.yaml
new file mode 100644
index 0000000..679e4ff
--- /dev/null
+++ b/yaml/scrab/params_3.yaml
@@ -0,0 +1,166 @@
+config:
+ debug:
+ profiling: true
+ profiling_file: "~/profiling_scrab.txt"
+ print_problem: false
+ print_period: 1
+ print_depth: 4
+ print_constr_by: false
+ print_metric: true
+ print_state_blocks: false
+
+ problem:
+ frame_structure: "POV"
+ dimension: 3
+ tree_manager:
+ follow: "../tree_manager/sliding_window_20_0.yaml"
+ prior:
+ follow: "../prior/POV_fix.yaml"
+
+ solver:
+ max_num_iterations: 20
+ verbose: 0
+ period: 0.0
+ n_threads: 2
+ update_immediately: false
+ min_num_iterations: 5 #if update immediately
+ compute_cov: true
+ cov_enum: 3
+ cov_period: 1
+
+ map:
+ type: "MapBase"
+ plugin: "core"
+
+ sensors:
+ -
+ type: "SensorImu"
+ name: "IMU_odometer"
+ plugin: "imu"
+ follow: "../sensor_bno.yaml"
+ #-
+ # type: "SensorCompass"
+ # name: "compass"
+ # plugin: "imu"
+ # follow: "sensor_bno_compass.yaml"
+ -
+ type: "SensorGnss"
+ name: "gnss"
+ plugin: "gnss"
+ extrinsic:
+ pose: [0,0,0]#[1.36, -0.04, 0.280] # BNO055 in rosbag
+ follow: "../sensor_f9t.yaml"
+
+ processors:
+ -
+ type: "ProcessorImu"
+ name: "processor IMU"
+ sensor_name: "IMU_odometer"
+ plugin: "imu"
+ follow: "../processor_imu.yaml"
+ #-
+ # type: "ProcessorCompass"
+ # name: "processor compass"
+ # sensor_name: "compass"
+ # plugin: "imu"
+ # follow: "../processor_compass.yaml"
+ -
+ type: "ProcessorTrackerGnss"
+ name: "processor gnss"
+ sensor_name: "gnss"
+ plugin: "gnss"
+ follow: "processor_gnss_3.yaml"
+ -
+ type: "ProcessorFixWingModel"
+ name: "processor fix wing"
+ sensor_name: "IMU_odometer"
+ plugin: "core"
+ follow: "processor_fix_wing.yaml"
+
+ ROS subscriber:
+ -
+ type: "SubscriberGnssUblox"
+ topic: "/ublox_gps/raw_data_stream"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ follow: "../subscriber_gnss_ublox_3.yaml"
+ -
+ type: "SubscriberImuEnableable"
+ topic: "/bno055_imu/imu"
+ sensor_name: "IMU_odometer"
+ package: "wolf_ros_imu"
+ follow: "subscriber_imu.yaml"
+ #-
+ # type: "SubscriberCompass"
+ # topic: "/bno055_imu/magnetometer"
+ # sensor_name: "compass"
+ # package: "wolf_ros_imu"
+ # follow: "subscriber_imu.yaml"
+ -
+ type: "SubscriberGnssFixPublisherEcef"
+ topic: "/ublox_gps/fix"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ marker_color: [0,0,1,1]
+ line_size: 5
+ period: 0.2
+ max_points: 10000
+
+ ROS publisher:
+ -
+ type: "PublisherRpaStateInfo"
+ topic: "rpa_state_info"
+ package: "wolf_ros_gauss"
+ period: 0.5
+ follow: "publisher_rpa_state_info.yaml"
+ -
+ type: "PublisherRpaPositioningInfo"
+ topic: "rpa_positioning_info"
+ package: "wolf_ros_gauss"
+ period: 0.5
+ sensor: "gnss"
+ -
+ type: "PublisherRpaImuGnssPositioning"
+ topic: "rpa_imu_gnss_positioning"
+ package: "wolf_ros_gauss"
+ period: 0.1
+ sensor: "gnss"
+ -
+ type: "PublisherPose"
+ topic: "current_pose"
+ package: "wolf_ros_node"
+ marker_color: [1,0,0,1]
+ line_size: 5
+ period: 0.2
+ extrinsics: true
+ sensor: "gnss"
+ frame_id: "ENU"
+ max_points: 10000
+ -
+ type: "PublisherGnssTf"
+ topic: " "
+ package: "wolf_ros_gnss"
+ period: 0.01
+ sensor_gnss_name: "gnss"
+ -
+ type: "PublisherTf"
+ topic: " "
+ package: "wolf_ros_node"
+ period: 0.2
+ map_frame_id: "map"
+ odom_frame_id: "odom"
+ base_frame_id: "base"
+ publish_odom_tf: false
+ -
+ type: "PublisherGraph"
+ topic: "graph"
+ package: "wolf_ros_node"
+ period: 0.2
+ text_scale: 50
+ viz_scale: 50
+ -
+ type: "PublisherTrackerGnssInfo"
+ topic: "gnss_tracker"
+ package: "wolf_ros_gnss"
+ period: 0.2
+ processor_gnss: "processor gnss"
\ No newline at end of file
diff --git a/yaml/scrab/params_4.yaml b/yaml/scrab/params_4.yaml
new file mode 100644
index 0000000..1954d6b
--- /dev/null
+++ b/yaml/scrab/params_4.yaml
@@ -0,0 +1,166 @@
+config:
+ debug:
+ profiling: true
+ profiling_file: "~/profiling_scrab.txt"
+ print_problem: false
+ print_period: 1
+ print_depth: 4
+ print_constr_by: false
+ print_metric: true
+ print_state_blocks: false
+
+ problem:
+ frame_structure: "POV"
+ dimension: 3
+ tree_manager:
+ follow: "../tree_manager/sliding_window_20_0.yaml"
+ prior:
+ follow: "../prior/POV_fix.yaml"
+
+ solver:
+ max_num_iterations: 20
+ verbose: 0
+ period: 0.0
+ n_threads: 2
+ update_immediately: false
+ min_num_iterations: 5 #if update immediately
+ compute_cov: true
+ cov_enum: 3
+ cov_period: 1
+
+ map:
+ type: "MapBase"
+ plugin: "core"
+
+ sensors:
+ -
+ type: "SensorImu"
+ name: "IMU_odometer"
+ plugin: "imu"
+ follow: "../sensor_bno.yaml"
+ #-
+ # type: "SensorCompass"
+ # name: "compass"
+ # plugin: "imu"
+ # follow: "sensor_bno_compass.yaml"
+ -
+ type: "SensorGnss"
+ name: "gnss"
+ plugin: "gnss"
+ extrinsic:
+ pose: [0,0,0]#[1.36, -0.04, 0.280] # BNO055 in rosbag
+ follow: "../sensor_f9t.yaml"
+
+ processors:
+ -
+ type: "ProcessorImu"
+ name: "processor IMU"
+ sensor_name: "IMU_odometer"
+ plugin: "imu"
+ follow: "../processor_imu.yaml"
+ #-
+ # type: "ProcessorCompass"
+ # name: "processor compass"
+ # sensor_name: "compass"
+ # plugin: "imu"
+ # follow: "../processor_compass.yaml"
+ -
+ type: "ProcessorTrackerGnss"
+ name: "processor gnss"
+ sensor_name: "gnss"
+ plugin: "gnss"
+ follow: "processor_gnss_4.yaml"
+ -
+ type: "ProcessorFixWingModel"
+ name: "processor fix wing"
+ sensor_name: "IMU_odometer"
+ plugin: "core"
+ follow: "processor_fix_wing.yaml"
+
+ ROS subscriber:
+ -
+ type: "SubscriberGnssUblox"
+ topic: "/ublox_gps/raw_data_stream"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ follow: "../subscriber_gnss_ublox_4.yaml"
+ -
+ type: "SubscriberImuEnableable"
+ topic: "/bno055_imu/imu"
+ sensor_name: "IMU_odometer"
+ package: "wolf_ros_imu"
+ follow: "subscriber_imu.yaml"
+ #-
+ # type: "SubscriberCompass"
+ # topic: "/bno055_imu/magnetometer"
+ # sensor_name: "compass"
+ # package: "wolf_ros_imu"
+ # follow: "subscriber_imu.yaml"
+ -
+ type: "SubscriberGnssFixPublisherEcef"
+ topic: "/ublox_gps/fix"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ marker_color: [0,0,1,1]
+ line_size: 5
+ period: 0.2
+ max_points: 10000
+
+ ROS publisher:
+ -
+ type: "PublisherRpaStateInfo"
+ topic: "rpa_state_info"
+ package: "wolf_ros_gauss"
+ period: 0.5
+ follow: "publisher_rpa_state_info.yaml"
+ -
+ type: "PublisherRpaPositioningInfo"
+ topic: "rpa_positioning_info"
+ package: "wolf_ros_gauss"
+ period: 0.5
+ sensor: "gnss"
+ -
+ type: "PublisherRpaImuGnssPositioning"
+ topic: "rpa_imu_gnss_positioning"
+ package: "wolf_ros_gauss"
+ period: 0.1
+ sensor: "gnss"
+ -
+ type: "PublisherPose"
+ topic: "current_pose"
+ package: "wolf_ros_node"
+ marker_color: [1,0,0,1]
+ line_size: 5
+ period: 0.2
+ extrinsics: true
+ sensor: "gnss"
+ frame_id: "ENU"
+ max_points: 10000
+ -
+ type: "PublisherGnssTf"
+ topic: " "
+ package: "wolf_ros_gnss"
+ period: 0.01
+ sensor_gnss_name: "gnss"
+ -
+ type: "PublisherTf"
+ topic: " "
+ package: "wolf_ros_node"
+ period: 0.2
+ map_frame_id: "map"
+ odom_frame_id: "odom"
+ base_frame_id: "base"
+ publish_odom_tf: false
+ -
+ type: "PublisherGraph"
+ topic: "graph"
+ package: "wolf_ros_node"
+ period: 0.2
+ text_scale: 50
+ viz_scale: 50
+ -
+ type: "PublisherTrackerGnssInfo"
+ topic: "gnss_tracker"
+ package: "wolf_ros_gnss"
+ period: 0.2
+ processor_gnss: "processor gnss"
\ No newline at end of file
diff --git a/yaml/scrab/processor_gnss.yaml b/yaml/scrab/processor_gnss.yaml
index 852736f..02d1e16 100644
--- a/yaml/scrab/processor_gnss.yaml
+++ b/yaml/scrab/processor_gnss.yaml
@@ -24,7 +24,7 @@ gnss:
constellations:
GPS: true
SBS: false
- GLO: true
+ GLO: false
GAL: true
QZS: false
CMP: false
diff --git a/yaml/scrab/processor_gnss_2.yaml b/yaml/scrab/processor_gnss_2.yaml
new file mode 100644
index 0000000..d710cdd
--- /dev/null
+++ b/yaml/scrab/processor_gnss_2.yaml
@@ -0,0 +1,45 @@
+time_tolerance: 0.1
+apply_loss_function: false
+max_new_features: -1 #unlimited
+remove_outliers: true
+remove_outliers_with_fix: true
+outlier_residual_th: 10
+init_frames: false
+pseudo_ranges: true
+fix: false
+enu_map_fix_dist: 5
+keyframe_vote:
+ voting_active: true
+ max_time_span: 0.1
+ min_features_for_keyframe: 0 #4
+gnss:
+ sateph: 0 # satellite ephemeris/clock: EPHOPT_BRDC(0):broadcast ephemeris, EPHOPT_PREC(1): precise ephemeris, EPHOPT_SBAS(2): broadcast + SBAS, EPHOPT_SSRAPC(3): broadcast + SSR_APC, EPHOPT_SSRCOM(4): broadcast + SSR_COM, EPHOPT_LEX(5): QZSS LEX ephemeris, EPHOPT_SBAS2(6):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), EPHOPT_SBAS3(7):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_SBAS2), EPHOPT_SBAS4(8):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_BRDC)
+ ionoopt: 1 # ionosphere option: IONOOPT_OFF(0):correction off, IONOOPT_BRDC(1):broadcast mode, IONOOPT_SBAS(2):SBAS model, IONOOPT_IFLC(3):L1/L2 or L1/L5, IONOOPT_EST(4):estimation, IONOOPT_TEC(5):IONEX TEC model, IONOOPT_QZS(6):QZSS broadcast, IONOOPT_LEX(7):QZSS LEX ionosphere, IONOOPT_STEC(8):SLANT TEC mode, IONOOPT_SBAS2(9):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), IONOOPT_SBAS3(10):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_SBAS2), IONOOPT_SBAS4(8):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_BRDC)
+ tropopt: 1 # troposphere option: (0:correction off,1:Saastamoinen model,2:SBAS model,3:troposphere option: ZTD estimation,4:ZTD+grad estimation,5:ZTD correction,6:ZTD+grad correction)
+ sbascorr: 15 # SBAS option (1:long term correction,2:fast correction,4:ionosphere correction,8:ranging)
+ raim: 1 # apply RAIM
+ elmin: 0.26 # elevation min (rad) = 15 degrees
+ maxgdop: 30 # reject threshold of gdop (ground dilusion of precision)
+ min_sbas_sats: 5 # used in case of EPHOPT_SBAS3, EPHOPT_SBAS4, IONOOPT_SBAS3, IONOOPT_SBAS4
+ constellations:
+ GPS: true
+ SBS: false
+ GLO: false
+ GAL: true
+ QZS: false
+ CMP: false
+ IRN: false
+ LEO: false
+ tdcp:
+ enabled: true
+ structure: consecutive
+ corr_iono: true
+ corr_tropo: true
+ corr_clock: true
+ loss_function: false
+ time_window: 10 # s
+ sigma_atm: 0.0016 #1.6mm/sqrt(s) # m/sqrt(s)
+ sigma_carrier: 0.0011 #1.1mm/sqrt(s) # m
+ multi_freq: false
+ remove_outliers: false
+ batch: false
\ No newline at end of file
diff --git a/yaml/scrab/processor_gnss_3.yaml b/yaml/scrab/processor_gnss_3.yaml
new file mode 100644
index 0000000..815e1ca
--- /dev/null
+++ b/yaml/scrab/processor_gnss_3.yaml
@@ -0,0 +1,45 @@
+time_tolerance: 0.1
+apply_loss_function: false
+max_new_features: -1 #unlimited
+remove_outliers: true
+remove_outliers_with_fix: true
+outlier_residual_th: 10
+init_frames: false
+pseudo_ranges: true
+fix: false
+enu_map_fix_dist: 5
+keyframe_vote:
+ voting_active: true
+ max_time_span: 0.1
+ min_features_for_keyframe: 0 #4
+gnss:
+ sateph: 6 # satellite ephemeris/clock: EPHOPT_BRDC(0):broadcast ephemeris, EPHOPT_PREC(1): precise ephemeris, EPHOPT_SBAS(2): broadcast + SBAS, EPHOPT_SSRAPC(3): broadcast + SSR_APC, EPHOPT_SSRCOM(4): broadcast + SSR_COM, EPHOPT_LEX(5): QZSS LEX ephemeris, EPHOPT_SBAS2(6):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), EPHOPT_SBAS3(7):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_SBAS2), EPHOPT_SBAS4(8):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_BRDC)
+ ionoopt: 9 # ionosphere option: IONOOPT_OFF(0):correction off, IONOOPT_BRDC(1):broadcast mode, IONOOPT_SBAS(2):SBAS model, IONOOPT_IFLC(3):L1/L2 or L1/L5, IONOOPT_EST(4):estimation, IONOOPT_TEC(5):IONEX TEC model, IONOOPT_QZS(6):QZSS broadcast, IONOOPT_LEX(7):QZSS LEX ionosphere, IONOOPT_STEC(8):SLANT TEC mode, IONOOPT_SBAS2(9):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), IONOOPT_SBAS3(10):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_SBAS2), IONOOPT_SBAS4(8):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_BRDC)
+ tropopt: 2 # troposphere option: (0:correction off,1:Saastamoinen model,2:SBAS model,3:troposphere option: ZTD estimation,4:ZTD+grad estimation,5:ZTD correction,6:ZTD+grad correction)
+ sbascorr: 15 # SBAS option (1:long term correction,2:fast correction,4:ionosphere correction,8:ranging)
+ raim: 1 # apply RAIM
+ elmin: 0.26 # elevation min (rad) = 15 degrees
+ maxgdop: 30 # reject threshold of gdop (ground dilusion of precision)
+ min_sbas_sats: 5 # used in case of EPHOPT_SBAS3, EPHOPT_SBAS4, IONOOPT_SBAS3, IONOOPT_SBAS4
+ constellations:
+ GPS: true
+ SBS: false
+ GLO: false
+ GAL: false
+ QZS: false
+ CMP: false
+ IRN: false
+ LEO: false
+ tdcp:
+ enabled: true
+ structure: consecutive
+ corr_iono: true
+ corr_tropo: true
+ corr_clock: true
+ loss_function: false
+ time_window: 10 # s
+ sigma_atm: 0.0016 #1.6mm/sqrt(s) # m/sqrt(s)
+ sigma_carrier: 0.0011 #1.1mm/sqrt(s) # m
+ multi_freq: false
+ remove_outliers: false
+ batch: false
\ No newline at end of file
diff --git a/yaml/scrab/processor_gnss_4.yaml b/yaml/scrab/processor_gnss_4.yaml
new file mode 100644
index 0000000..9b8b5a2
--- /dev/null
+++ b/yaml/scrab/processor_gnss_4.yaml
@@ -0,0 +1,45 @@
+time_tolerance: 0.1
+apply_loss_function: false
+max_new_features: -1 #unlimited
+remove_outliers: true
+remove_outliers_with_fix: true
+outlier_residual_th: 10
+init_frames: false
+pseudo_ranges: true
+fix: false
+enu_map_fix_dist: 5
+keyframe_vote:
+ voting_active: true
+ max_time_span: 0.1
+ min_features_for_keyframe: 0 #4
+gnss:
+ sateph: 0 # satellite ephemeris/clock: EPHOPT_BRDC(0):broadcast ephemeris, EPHOPT_PREC(1): precise ephemeris, EPHOPT_SBAS(2): broadcast + SBAS, EPHOPT_SSRAPC(3): broadcast + SSR_APC, EPHOPT_SSRCOM(4): broadcast + SSR_COM, EPHOPT_LEX(5): QZSS LEX ephemeris, EPHOPT_SBAS2(6):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), EPHOPT_SBAS3(7):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_SBAS2), EPHOPT_SBAS4(8):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_BRDC)
+ ionoopt: 1 # ionosphere option: IONOOPT_OFF(0):correction off, IONOOPT_BRDC(1):broadcast mode, IONOOPT_SBAS(2):SBAS model, IONOOPT_IFLC(3):L1/L2 or L1/L5, IONOOPT_EST(4):estimation, IONOOPT_TEC(5):IONEX TEC model, IONOOPT_QZS(6):QZSS broadcast, IONOOPT_LEX(7):QZSS LEX ionosphere, IONOOPT_STEC(8):SLANT TEC mode, IONOOPT_SBAS2(9):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), IONOOPT_SBAS3(10):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_SBAS2), IONOOPT_SBAS4(8):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_BRDC)
+ tropopt: 1 # troposphere option: (0:correction off,1:Saastamoinen model,2:SBAS model,3:troposphere option: ZTD estimation,4:ZTD+grad estimation,5:ZTD correction,6:ZTD+grad correction)
+ sbascorr: 15 # SBAS option (1:long term correction,2:fast correction,4:ionosphere correction,8:ranging)
+ raim: 1 # apply RAIM
+ elmin: 0.26 # elevation min (rad) = 15 degrees
+ maxgdop: 30 # reject threshold of gdop (ground dilusion of precision)
+ min_sbas_sats: 5 # used in case of EPHOPT_SBAS3, EPHOPT_SBAS4, IONOOPT_SBAS3, IONOOPT_SBAS4
+ constellations:
+ GPS: true
+ SBS: false
+ GLO: false
+ GAL: false
+ QZS: false
+ CMP: false
+ IRN: false
+ LEO: false
+ tdcp:
+ enabled: true
+ structure: consecutive
+ corr_iono: true
+ corr_tropo: true
+ corr_clock: true
+ loss_function: false
+ time_window: 10 # s
+ sigma_atm: 0.0016 #1.6mm/sqrt(s) # m/sqrt(s)
+ sigma_carrier: 0.0011 #1.1mm/sqrt(s) # m
+ multi_freq: false
+ remove_outliers: false
+ batch: false
\ No newline at end of file
diff --git a/yaml/subscriber_gnss_ublox.yaml b/yaml/subscriber_gnss_ublox.yaml
index 7303684..49e8020 100644
--- a/yaml/subscriber_gnss_ublox.yaml
+++ b/yaml/subscriber_gnss_ublox.yaml
@@ -13,7 +13,7 @@ gnss_options:
constellations:
GPS: true
SBS: false
- GLO: true
+ GLO: false
GAL: true
QZS: false
CMP: false
diff --git a/yaml/subscriber_gnss_ublox_2.yaml b/yaml/subscriber_gnss_ublox_2.yaml
new file mode 100644
index 0000000..a046eec
--- /dev/null
+++ b/yaml/subscriber_gnss_ublox_2.yaml
@@ -0,0 +1,24 @@
+process_not_available: false
+publish_fix:
+ enabled: true
+ topic: "RTKLIB_fix"
+gnss_options:
+ sateph: 0 # satellite ephemeris/clock (0:broadcast ephemeris,1:precise ephemeris,2:broadcast + SBAS,3:ephemeris option: broadcast + SSR_APC,4:broadcast + SSR_COM,5: QZSS LEX ephemeris
+ ionoopt: 1 # ionosphere option (0:correction off,1:broadcast mode,2:SBAS model,3:L1/L2 or L1/L5,4:estimation,5:IONEX TEC model,6:QZSS broadcast,7:QZSS LEX ionosphere,8:SLANT TEC mode)
+ tropopt: 1 # troposphere option: (0:correction off,1:Saastamoinen model,2:SBAS model,3:troposphere option: ZTD estimation,4:ZTD+grad estimation,5:ZTD correction,6:ZTD+grad correction)
+ sbascorr: 15 # SBAS option (1:long term correction,2:fast correction,4:ionosphere correction,8:ranging)
+ raim: 1 # apply RAIM n times
+ elmin: 0.26 # elevation min (rad) = 15 degrees
+ maxgdop: 30 # reject threshold of gdop (ground dilusion of precision)
+ constellations:
+ GPS: true
+ SBS: false
+ GLO: false
+ GAL: true
+ QZS: false
+ CMP: false
+ IRN: false
+ LEO: false
+reset_receiver: true
+reset_max_topic_delay: 1
+reset_duration: 20
\ No newline at end of file
diff --git a/yaml/subscriber_gnss_ublox_3.yaml b/yaml/subscriber_gnss_ublox_3.yaml
new file mode 100644
index 0000000..dcc5af5
--- /dev/null
+++ b/yaml/subscriber_gnss_ublox_3.yaml
@@ -0,0 +1,24 @@
+process_not_available: false
+publish_fix:
+ enabled: true
+ topic: "RTKLIB_fix"
+gnss_options:
+ sateph: 6 # satellite ephemeris/clock (0:broadcast ephemeris,1:precise ephemeris,2:broadcast + SBAS,3:ephemeris option: broadcast + SSR_APC,4:broadcast + SSR_COM,5: QZSS LEX ephemeris
+ ionoopt: 9 # ionosphere option (0:correction off,1:broadcast mode,2:SBAS model,3:L1/L2 or L1/L5,4:estimation,5:IONEX TEC model,6:QZSS broadcast,7:QZSS LEX ionosphere,8:SLANT TEC mode)
+ tropopt: 2 # troposphere option: (0:correction off,1:Saastamoinen model,2:SBAS model,3:troposphere option: ZTD estimation,4:ZTD+grad estimation,5:ZTD correction,6:ZTD+grad correction)
+ sbascorr: 15 # SBAS option (1:long term correction,2:fast correction,4:ionosphere correction,8:ranging)
+ raim: 1 # apply RAIM n times
+ elmin: 0.26 # elevation min (rad) = 15 degrees
+ maxgdop: 30 # reject threshold of gdop (ground dilusion of precision)
+ constellations:
+ GPS: true
+ SBS: false
+ GLO: false
+ GAL: false
+ QZS: false
+ CMP: false
+ IRN: false
+ LEO: false
+reset_receiver: true
+reset_max_topic_delay: 1
+reset_duration: 20
\ No newline at end of file
diff --git a/yaml/subscriber_gnss_ublox_4.yaml b/yaml/subscriber_gnss_ublox_4.yaml
new file mode 100644
index 0000000..cc9c5af
--- /dev/null
+++ b/yaml/subscriber_gnss_ublox_4.yaml
@@ -0,0 +1,24 @@
+process_not_available: false
+publish_fix:
+ enabled: true
+ topic: "RTKLIB_fix"
+gnss_options:
+ sateph: 0 # satellite ephemeris/clock (0:broadcast ephemeris,1:precise ephemeris,2:broadcast + SBAS,3:ephemeris option: broadcast + SSR_APC,4:broadcast + SSR_COM,5: QZSS LEX ephemeris
+ ionoopt: 1 # ionosphere option (0:correction off,1:broadcast mode,2:SBAS model,3:L1/L2 or L1/L5,4:estimation,5:IONEX TEC model,6:QZSS broadcast,7:QZSS LEX ionosphere,8:SLANT TEC mode)
+ tropopt: 1 # troposphere option: (0:correction off,1:Saastamoinen model,2:SBAS model,3:troposphere option: ZTD estimation,4:ZTD+grad estimation,5:ZTD correction,6:ZTD+grad correction)
+ sbascorr: 15 # SBAS option (1:long term correction,2:fast correction,4:ionosphere correction,8:ranging)
+ raim: 1 # apply RAIM n times
+ elmin: 0.26 # elevation min (rad) = 15 degrees
+ maxgdop: 30 # reject threshold of gdop (ground dilusion of precision)
+ constellations:
+ GPS: true
+ SBS: false
+ GLO: false
+ GAL: false
+ QZS: false
+ CMP: false
+ IRN: false
+ LEO: false
+reset_receiver: true
+reset_max_topic_delay: 1
+reset_duration: 20
\ No newline at end of file
--
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