wip

launch/rpa_positioning_rosbag_second_field.launch

@@ -5,7 +5,7 @@
     <arg name="record_output" default="true" />
     
     <arg name="speed" default="1" />
-    <arg name="sec" default="0" />
+    <!--<arg name="sec" default="0" />-->
     
     <arg name="profiling" default="false" />
     <arg name="gdb" default="false" />
@@ -19,6 +19,7 @@
     <arg name="bag_path" default="/media/joanvallve/UESEBE/second_field_inta/selected"/>
 
     <arg name="flight" default="atlantic_16" />
+    <arg name="conf_gnss" default="1" />
     
 	<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')" />
@@ -33,12 +34,19 @@
     <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="sec"			default="2700"		if="$(eval flight == 'atlantic_16')" />
+	<arg name="sec"			default="0"			if="$(eval flight == 'atlantic_17')" />
+	<arg name="sec"			default="0"			if="$(eval flight == 'M600b_16_1')" />
+	<arg name="sec"			default="0"			if="$(eval flight == 'M600b_16_2')" />
+	<arg name="sec"			default="0"			if="$(eval flight == 'M600b_17_1')" />
+	<arg name="sec"			default="0"			if="$(eval flight == 'M600b_17_2')" />
+	<arg name="sec"			default="0"			if="$(eval flight == 'scrab_16')" />
+	<arg name="sec"			default="0"			if="$(eval flight == 'scrab_17')" />
     
-	<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)" />
+	<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">

rviz/positioning_rosbag.rviz

@@ -39,11 +39,11 @@ Visualization Manager:
       Cell Size: 100
       Class: rviz/Grid
       Color: 95; 95; 95
-      Enabled: false
+      Enabled: true
       Line Style:
         Line Width: 0.0299999993
         Value: Lines
-      Name: Grid - Big
+      Name: Grid - Big (100m)
       Normal Cell Count: 0
       Offset:
         X: 0
@@ -52,16 +52,16 @@ Visualization Manager:
       Plane: XY
       Plane Cell Count: 1000
       Reference Frame: <Fixed Frame>
-      Value: false
+      Value: true
     - Alpha: 1
       Cell Size: 10
       Class: rviz/Grid
       Color: 62; 62; 62
-      Enabled: true
+      Enabled: false
       Line Style:
         Line Width: 0.0299999993
         Value: Lines
-      Name: Grid - Small
+      Name: Grid - Small (10m)
       Normal Cell Count: 0
       Offset:
         X: 0
@@ -70,7 +70,7 @@ Visualization Manager:
       Plane: XY
       Plane Cell Count: 1000
       Reference Frame: <Fixed Frame>
-      Value: true
+      Value: false
     - Alpha: 0.200000003
       Class: rviz_plugin_tutorials/Imu
       Color: 204; 51; 204
@@ -95,10 +95,10 @@ Visualization Manager:
       Name: Factors
       Namespaces:
         factors_processor IMU: true
-        factors_processor compass: true
+        factors_processor fix wing: true
         factors_processor gnss: true
         factors_text_processor IMU: false
-        factors_text_processor compass: false
+        factors_text_processor fix wing: false
         factors_text_processor gnss: false
         factors_text_unnamed_processor: false
         factors_unnamed_processor: true
@@ -119,19 +119,19 @@ Visualization Manager:
       Update Interval: 0
       Value: false
     - Class: rviz/Axes
-      Enabled: false
+      Enabled: true
       Length: 30
       Name: Current Pose - Big
       Radius: 2
       Reference Frame: base
-      Value: false
+      Value: true
     - Class: rviz/Axes
-      Enabled: true
+      Enabled: false
       Length: 5
       Name: Current Pose - Small
       Radius: 0.5
       Reference Frame: base
-      Value: true
+      Value: false
     - Alpha: 1
       Arrow Length: 1
       Axes Length: 0.300000012
@@ -385,7 +385,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 365.468964
+      Distance: 3005.51318
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1
@@ -400,10 +400,10 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.00999999978
-      Pitch: 0.195398808
+      Pitch: 0.82039851
       Target Frame: base
       Value: Orbit (rviz)
-      Yaw: 3.66541004
+      Yaw: 3.44540715
     Saved: ~
 Window Geometry:
   Displays: