Commit 388fedf9 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
Browse files

prefix for ublox_logs and IRI configs

parent 63f4c407
......@@ -34,6 +34,10 @@
type="static_transform_publisher"
name="odom_base"
args="0 0 0 0 0 0 odom base 1000" />
<node pkg="tf"
type="static_transform_publisher"
name="base_imu"
args="0 0 0 0 0 0 base imu 1000" />
<!--WOLF-->
<node type="wolf_ros_node"
......
......@@ -5,6 +5,7 @@ Panels:
Property Tree Widget:
Expanded:
- /Global Options1
- /Imu BNO1
- /Trajectory1
- /Trajectory1/Namespaces1
- /Landmarks1/Namespaces1
......@@ -64,15 +65,15 @@ Visualization Manager:
Topic: /imu/data
Unreliable: false
Value: false
- Alpha: 1
- Alpha: 0.200000003
Class: rviz_plugin_tutorials/Imu
Color: 204; 51; 204
Enabled: false
Enabled: true
History Length: 1
Name: Imu BNO
Topic: /bno055_imu/imu
Topic: /bno055_imu/imu_remapped
Unreliable: false
Value: false
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /wolf_ros_node/graph_trajectory
......@@ -188,7 +189,7 @@ Visualization Manager:
Marker Topic: /novatel/oem7/bestpos_ENU_marker
Name: Fix BestPose
Namespaces:
trajectory: true
{}
Queue Size: 100
Value: true
- Class: rviz/Group
......@@ -372,7 +373,7 @@ Visualization Manager:
Views:
Current:
Class: rviz/ThirdPersonFollower
Distance: 31.9203568
Distance: 39.9709778
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
......@@ -387,10 +388,10 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.109797992
Pitch: 0.334797949
Target Frame: ENU
Value: ThirdPersonFollower (rviz)
Yaw: 4.0904789
Yaw: 4.16047955
Saved: ~
Window Geometry:
Displays:
......
......@@ -2,17 +2,27 @@ config:
debug:
profiling: true
profiling_file: "~/profiling_IRI.txt"
print_problem: false
print_period: 1
print_problem: true
print_period: 10
problem:
frame_structure: "POV"
dimension: 3
tree_manager:
follow: "../tree_manager/sliding_window_20_0.yaml"
follow: "../tree_manager/sliding_window_20_0.yaml"
prior:
#follow: "../prior/POV_factor.yaml"
follow: "../prior/POV_fix.yaml"
#follow: "../prior/POV_fix.yaml"
mode: "factor"
time_tolerance: 0.1
$state:
P: [0,0,0]
O: [0,0,0,1]
V: [0,0,0]
$sigma:
P: [0.31, 0.31, 0.31]
O: [1, 1, 1]
V: [0.31, 0.31, 0.31]
solver:
max_num_iterations: 20
......@@ -41,7 +51,8 @@ config:
name: "gnss"
plugin: "gnss"
extrinsic:
pose: [1.36, -0.04, 0.280] # BNO055 in rosbag
pose: [0.0, 0.0, 0.28] # M600
#pose: [1.36, -0.04, 0.280] # BNO055 in rosbag
follow: "../sensor_f9t.yaml"
processors:
......@@ -79,7 +90,7 @@ config:
follow: "subscriber_imu.yaml"
-
type: "SubscriberCompass"
topic: "/bno055_imu/magnetometer"
topic: "/bno055_imu/magnetometer2"
sensor_name: "compass"
package: "wolf_ros_imu"
follow: "subscriber_imu.yaml"
......@@ -90,13 +101,13 @@ config:
package: "wolf_ros_gnss"
marker_color: [0,0,1,1]
period: 0.1
-
type: "SubscriberGnssFixNovatelPublisherEcef"
topic: "/novatel/oem7/bestpos"
sensor_name: "gnss"
package: "wolf_ros_gnss"
marker_color: [0,1,0,1]
period: 0.1
#-
# type: "SubscriberGnssFixNovatelPublisherEcef"
# topic: "/novatel/oem7/bestpos"
# sensor_name: "gnss"
# package: "wolf_ros_gnss"
# marker_color: [0,1,0,1]
# period: 0.1
ROS publisher:
-
......@@ -133,6 +144,15 @@ config:
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"
......
......@@ -10,7 +10,7 @@ fix: false
enu_map_fix_dist: 5
keyframe_vote:
voting_active: true
max_time_span: 0.01
max_time_span: 1#0.01
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)
......@@ -40,8 +40,8 @@ gnss:
sigma_carrier: 0.1 # m
multi_freq: false
remove_outliers: false
all_against_all: false
batch: true
all_against_all: true
batch: false
#only if batch:
min_common_sats: 6
raim_n: 2
......
......@@ -7,6 +7,6 @@ stdev_noise: 0.3
follow: "../magnetic_field.yaml"
# calibration
bias_prior_mode: "factor"
bias_prior_mode: "none"
bias_prior_state: [0, 0, 0]
bias_prior_sigma: [0.3, 0.3, 0.3]
\ No newline at end of file
......@@ -2,8 +2,8 @@ enableable: true
topic_enable: "gnss_available"
imu_x_axis: 1
imu_y_axis: -2
imu_z_axis: -3
imu_y_axis: 2
imu_z_axis: 3
cov_source: "msg"
......
......@@ -13,7 +13,7 @@ debug: 1 # Range 0-4 (0 means no debug statements will print)
raw_data_stream:
publish: true
dir: /home/nucgauss1/ublox_logs
file_prefix: f9t_
file_prefix: f9t_M600a_
device: /dev/ublox_gps
......
......@@ -13,7 +13,7 @@ debug: 1 # Range 0-4 (0 means no debug statements will print)
raw_data_stream:
publish: true
dir: /home/nucgauss1/ublox_logs
file_prefix: f9t_
file_prefix: f9t_M600b_
device: /dev/ublox_gps
......
......@@ -13,7 +13,7 @@ debug: 1 # Range 0-4 (0 means no debug statements will print)
raw_data_stream:
publish: true
dir: /home/nucgauss1/ublox_logs
file_prefix: f9t_
file_prefix: f9t_atlantic_
device: /dev/ublox_gps
......
......@@ -2,7 +2,9 @@
# N: 26,943.4 nT E: 43.1 nT D: 34,827.0 nT
# E: 0.0431 uT N: 26.9 uT U: -34.8 uT
field_prior_mode: "fix"
#field_prior_state: [0.0431, 26.9, -34.8]
field_prior_state: [0.0431, 26.9, -34.8]
#field_prior_sigma: [10, 10, 10]
# computed from measurements:
field_prior_state: [-17.2, 71.8, 4.5]
#field_prior_state: [-17.2, 71.8, 4.5]
#field_prior_sigma: [10, 10, 10]
\ No newline at end of file
......@@ -13,7 +13,7 @@ debug: 1 # Range 0-4 (0 means no debug statements will print)
raw_data_stream:
publish: true
dir: /home/nucgauss1/ublox_logs
file_prefix: f9t_
file_prefix: f9t_scrab_
device: /dev/ublox_gps
......
......@@ -13,7 +13,7 @@ debug: 1 # Range 0-4 (0 means no debug statements will print)
raw_data_stream:
publish: true
dir: /home/gauss/ublox_logs
file_prefix: f9t_
file_prefix: f9t_tucan_
device: /dev/ublox_gps
......
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