diff --git a/launch/rpa_positioning.launch b/launch/rpa_positioning.launch
index e1cf7d9ea7a65cc0bd96e41dd3ca4bde40f12d8b..f7035a6dc77b96c9d13c17913dbb3730a5920dba 100644
--- a/launch/rpa_positioning.launch
+++ b/launch/rpa_positioning.launch
@@ -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"
diff --git a/rviz/positioning_rosbag.rviz b/rviz/positioning_rosbag.rviz
index 16cec3be8d0f1bd12fa523c28983807ec2b44a24..c6a8867204fde10491389a0ff16de295734870c1 100644
--- a/rviz/positioning_rosbag.rviz
+++ b/rviz/positioning_rosbag.rviz
@@ -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:
diff --git a/yaml/IRI/params.yaml b/yaml/IRI/params.yaml
index e306259f5f423ae23daa79e0d3e34fba60c30c63..d17f8b2211ca80c253d16269ffa1f45bad97c7bb 100644
--- a/yaml/IRI/params.yaml
+++ b/yaml/IRI/params.yaml
@@ -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"
diff --git a/yaml/IRI/processor_gnss.yaml b/yaml/IRI/processor_gnss.yaml
index b786171df41eb638bbf9de55084bdd7913eecd76..4504ae238bd7af7aac69e539a02db5e1252786ec 100644
--- a/yaml/IRI/processor_gnss.yaml
+++ b/yaml/IRI/processor_gnss.yaml
@@ -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
diff --git a/yaml/IRI/sensor_bno_compass.yaml b/yaml/IRI/sensor_bno_compass.yaml
index 5fa032c67166036ce0f81a0955db519284965f5e..45472f4be9dd8d8db3dde18ffca678a0d4cc69b3 100644
--- a/yaml/IRI/sensor_bno_compass.yaml
+++ b/yaml/IRI/sensor_bno_compass.yaml
@@ -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
diff --git a/yaml/IRI/subscriber_imu.yaml b/yaml/IRI/subscriber_imu.yaml
index 78af3a039abb4d088ec63157b91eb5e28d18641b..96e2aabbb84a4c8edb2c81449124f067cea653d4 100644
--- a/yaml/IRI/subscriber_imu.yaml
+++ b/yaml/IRI/subscriber_imu.yaml
@@ -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"
diff --git a/yaml/M600a/config_f9t.yaml b/yaml/M600a/config_f9t.yaml
index 25973e7a975afb7ff193d8a0759f4c0f5c632cb3..c5c2f4078f1c4ba62f670b238adcdba733414717 100644
--- a/yaml/M600a/config_f9t.yaml
+++ b/yaml/M600a/config_f9t.yaml
@@ -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
diff --git a/yaml/M600b/config_f9t.yaml b/yaml/M600b/config_f9t.yaml
index 7ff7cb95a3198a61ee03dbebe0d5f6e76893e9b0..bf15ccf1755c43f20e90edba4ee0b603f669dcf3 100644
--- a/yaml/M600b/config_f9t.yaml
+++ b/yaml/M600b/config_f9t.yaml
@@ -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
diff --git a/yaml/atlantic/config_f9t.yaml b/yaml/atlantic/config_f9t.yaml
index 5516d6306daca335181b25f2ceef4bafe3f47b59..0ec5cc07c66fa995b959213a82b4ae51c7afee3e 100644
--- a/yaml/atlantic/config_f9t.yaml
+++ b/yaml/atlantic/config_f9t.yaml
@@ -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
diff --git a/yaml/magnetic_field.yaml b/yaml/magnetic_field.yaml
index a1f82d85235fc6fe8646fcf5affd21ff50d0a1d8..ba800ca5d0a921cc5af564e51bea06979c33c121 100644
--- a/yaml/magnetic_field.yaml
+++ b/yaml/magnetic_field.yaml
@@ -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
diff --git a/yaml/scrab/config_f9t.yaml b/yaml/scrab/config_f9t.yaml
index 7ff7cb95a3198a61ee03dbebe0d5f6e76893e9b0..bd21ca19b182a4a332e121f8e899b93aa0e32848 100644
--- a/yaml/scrab/config_f9t.yaml
+++ b/yaml/scrab/config_f9t.yaml
@@ -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
diff --git a/yaml/tucan/config_f9t.yaml b/yaml/tucan/config_f9t.yaml
index 9de448600ba29b37688646e38ea23baf61834782..7a015ff502d3b2dbd6323b82023f40a49cca3c28 100644
--- a/yaml/tucan/config_f9t.yaml
+++ b/yaml/tucan/config_f9t.yaml
@@ -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