Commit 1cb496cb authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
Browse files

different configs comparative

parent 0a98df4f
<!-- -->
<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>
...@@ -24,7 +24,7 @@ gnss: ...@@ -24,7 +24,7 @@ gnss:
constellations: constellations:
GPS: true GPS: true
SBS: false SBS: false
GLO: true GLO: false
GAL: true GAL: true
QZS: false QZS: false
CMP: false CMP: false
......
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
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
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
...@@ -24,7 +24,7 @@ gnss: ...@@ -24,7 +24,7 @@ gnss:
constellations: constellations:
GPS: true GPS: true
SBS: false SBS: false
GLO: true GLO: false
GAL: true GAL: true
QZS: false QZS: false
CMP: false CMP: false
......
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