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Commit 8fffb4a0 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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yamls

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rviz/positioning_rosbag.rviz
+ 47
− 35
View file @ 8fffb4a0
......@@ -4,11 +4,7 @@ Panels:
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Imu BNO1
- /Trajectory1
- /Trajectory1/Namespaces1
- /Landmarks1/Namespaces1
- /Factors1
- /Factors1/Namespaces1
- /TF1/Frames1
......@@ -26,6 +22,7 @@ Panels:
- Class: rviz/Views
Expanded:
- /Current View1
- /Current View1/Focal Point1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
......@@ -38,15 +35,33 @@ Toolbars:
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.200000003
Cell Size: 1
- Alpha: 1
Cell Size: 100
Class: rviz/Grid
Color: 95; 95; 95
Enabled: false
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid - Big
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 1000
Reference Frame: <Fixed Frame>
Value: false
- Alpha: 1
Cell Size: 10
Class: rviz/Grid
Color: 111; 111; 111
Color: 62; 62; 62
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Name: Grid - Small
Normal Cell Count: 0
Offset:
X: 0
......@@ -56,15 +71,6 @@ Visualization Manager:
Plane Cell Count: 1000
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz_plugin_tutorials/Imu
Color: 204; 51; 204
Enabled: false
History Length: 1
Name: Imu
Topic: /imu/data
Unreliable: false
Value: false
- Alpha: 0.200000003
Class: rviz_plugin_tutorials/Imu
Color: 204; 51; 204
......@@ -83,14 +89,6 @@ Visualization Manager:
frames_text: false
Queue Size: 1
Value: true
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: /wolf_ros_node/graph_landmarks
Name: Landmarks
Namespaces:
{}
Queue Size: 1
Value: false
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /wolf_ros_node/graph_factors
......@@ -120,6 +118,20 @@ Visualization Manager:
{}
Update Interval: 0
Value: false
- Class: rviz/Axes
Enabled: false
Length: 30
Name: Current Pose - Big
Radius: 2
Reference Frame: base
Value: false
- Class: rviz/Axes
Enabled: true
Length: 5
Name: Current Pose - Small
Radius: 0.5
Reference Frame: base
Value: true
- Alpha: 1
Arrow Length: 1
Axes Length: 0.300000012
......@@ -372,26 +384,26 @@ Visualization Manager:
Value: true
Views:
Current:
Class: rviz/ThirdPersonFollower
Distance: 39.9709778
Class: rviz/Orbit
Distance: 365.468964
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -16.7499905
Y: -18.2985535
Z: 2.88353258e-05
Focal Shape Fixed Size: true
X: 158.826431
Y: 158.830399
Z: -35.6003647
Focal Shape Fixed Size: false
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.334797949
Target Frame: ENU
Value: ThirdPersonFollower (rviz)
Yaw: 4.16047955
Pitch: 0.195398808
Target Frame: base
Value: Orbit (rviz)
Yaw: 3.66541004
Saved: ~
Window Geometry:
Displays:
......
yaml/IRI/params.yaml
+ 34
− 33
View file @ 8fffb4a0
......@@ -2,7 +2,7 @@ config:
debug:
profiling: true
profiling_file: "~/profiling_IRI.txt"
print_problem: true
print_problem: false
print_period: 10
print_depth: 4
print_constr_by: false
......@@ -13,27 +13,16 @@ config:
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"
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]
follow: "../prior/POV_fix.yaml"
solver:
max_num_iterations: 20
verbose: 0
period: 0.0
n_threads: 2
update_immediately: true
update_immediately: false
min_num_iterations: 5 #if update immediately
compute_cov: true
cov_enum: 3
......@@ -49,11 +38,11 @@ config:
name: "IMU_odometer"
plugin: "imu"
follow: "../sensor_bno.yaml"
-
type: "SensorCompass"
name: "compass"
plugin: "imu"
follow: "sensor_bno_compass.yaml"
#-
# type: "SensorCompass"
# name: "compass"
# plugin: "imu"
# follow: "sensor_bno_compass.yaml"
-
type: "SensorGnss"
name: "gnss"
......@@ -70,18 +59,30 @@ config:
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: "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.yaml"
#-
# type: "ProcessorConstantVelocity"
# name: "processor constant vel"
# sensor_name: "imu"
# plugin: "core"
# follow: "../processor_ct_vel.yaml"
-
type: "ProcessorFixWingModel"
name: "processor fix wing"
sensor_name: "IMU_odometer"
plugin: "core"
follow: "../processor_fix_wing.yaml"
ROS subscriber:
-
......@@ -96,12 +97,12 @@ config:
sensor_name: "IMU_odometer"
package: "wolf_ros_imu"
follow: "subscriber_imu.yaml"
-
type: "SubscriberCompass"
topic: "/bno055_imu/magnetometer2"
sensor_name: "compass"
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"
......@@ -145,7 +146,7 @@ config:
extrinsics: true
sensor: "gnss"
frame_id: "ENU"
max_points: 100
max_points: 1000
-
type: "PublisherGnssTf"
topic: " "
......
yaml/IRI/processor_gnss.yaml
+ 2
− 2
View file @ 8fffb4a0
......@@ -10,7 +10,7 @@ fix: false
enu_map_fix_dist: 5
keyframe_vote:
voting_active: true
max_time_span: 1#0.01
max_time_span: 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)
......@@ -32,6 +32,7 @@ gnss:
LEO: false
tdcp:
enabled: true
structure: consecutive
corr_iono: true
corr_tropo: true
corr_clock: true
......@@ -41,7 +42,6 @@ gnss:
sigma_carrier: 0.1 # m
multi_freq: false
remove_outliers: false
all_against_all: true
batch: false
#only if batch:
min_common_sats: 6
......
yaml/IRI/subscriber_imu.yaml
+ 1
− 1
View file @ 8fffb4a0
......@@ -12,5 +12,5 @@ in_degrees: true
static_init_duration: 30.0
lowpass_filter: true
lowpass_cutoff_freq: 10
lowpass_cutoff_freq: 2
dt: 0.01
\ No newline at end of file
yaml/M600a/params.yaml
+ 36
− 23
View file @ 8fffb4a0
config:
debug:
profiling: true
profiling_file: "~/profiling_M600.txt"
profiling_file: "~/profiling_M600a.txt"
print_problem: false
print_period: 1
print_depth: 4
......@@ -13,9 +13,8 @@ config:
frame_structure: "POV"
dimension: 3
tree_manager:
follow: "../tree_manager/sliding_window_dual_20_10_10_0.yaml"
follow: "../tree_manager/sliding_window_20_0.yaml"
prior:
#follow: "../prior/POV_factor.yaml"
follow: "../prior/POV_fix.yaml"
solver:
......@@ -23,7 +22,7 @@ config:
verbose: 0
period: 0.0
n_threads: 2
update_immediately: true
update_immediately: false
min_num_iterations: 5 #if update immediately
compute_cov: true
cov_enum: 3
......@@ -39,11 +38,11 @@ config:
name: "IMU_odometer"
plugin: "imu"
follow: "../sensor_bno.yaml"
-
type: "SensorCompass"
name: "compass"
plugin: "imu"
follow: "sensor_bno_compass.yaml"
#-
# type: "SensorCompass"
# name: "compass"
# plugin: "imu"
# follow: "sensor_bno_compass.yaml"
-
type: "SensorGnss"
name: "gnss"
......@@ -59,12 +58,12 @@ config:
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: "ProcessorCompass"
# name: "processor compass"
# sensor_name: "compass"
# plugin: "imu"
# follow: "../processor_compass.yaml"
-
type: "ProcessorTrackerGnss"
name: "processor gnss"
......@@ -85,19 +84,21 @@ config:
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: "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]
period: 0.1
line_size: 0.2
period: 0.2
max_points: 10000
ROS publisher:
-
......@@ -123,22 +124,34 @@ config:
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: 100
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"
......
yaml/M600a/params_only_gnss.yaml
+ 20
− 6
View file @ 8fffb4a0
config:
debug:
profiling: true
profiling_file: "~/profiling_M600_only_GNSS.txt"
profiling_file: "~/profiling_M600a_only_GNSS.txt"
print_problem: false
print_period: 1
print_depth: 4
......@@ -13,9 +13,8 @@ config:
frame_structure: "PO"
dimension: 3
tree_manager:
follow: "../tree_manager/sliding_window_dual_20_10_10_0.yaml"
follow: "../tree_manager/sliding_window_20_0.yaml"
prior:
#follow: "../prior/PO_factor.yaml"
follow: "../prior/PO_fix.yaml"
solver:
......@@ -23,7 +22,7 @@ config:
verbose: 0
period: 0.0
n_threads: 2
update_immediately: true
update_immediately: false
min_num_iterations: 5 #if update immediately
compute_cov: false
cov_enum: 3
......@@ -63,7 +62,9 @@ config:
sensor_name: "gnss"
package: "wolf_ros_gnss"
marker_color: [0,0,1,1]
period: 0.1
line_size: 0.2
period: 0.2
max_points: 10000
ROS publisher:
-
......@@ -89,21 +90,34 @@ config:
topic: "current_pose"
package: "wolf_ros_node"
marker_color: [1,0,0,1]
period: 0.01
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"
......
yaml/M600a/processor_gnss.yaml
+ 4
− 4
View file @ 8fffb4a0
......@@ -10,7 +10,7 @@ fix: false
enu_map_fix_dist: 5
keyframe_vote:
voting_active: true
max_time_span: 0.01
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)
......@@ -32,14 +32,14 @@ gnss:
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: 0.3 # m/sqrt(s)
sigma_carrier: 0.1 # m
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
all_against_all: false
batch: false
\ No newline at end of file
yaml/M600a/subscriber_imu.yaml
+ 1
− 1
View file @ 8fffb4a0
......@@ -12,5 +12,5 @@ in_degrees: true
static_init_duration: 30.0
lowpass_filter: true
lowpass_cutoff_freq: 10
lowpass_cutoff_freq: 2
dt: 0.01
\ No newline at end of file
yaml/M600b/params.yaml
+ 19
− 6
View file @ 8fffb4a0
config:
debug:
profiling: true
profiling_file: "~/profiling_M600.txt"
profiling_file: "~/profiling_M600b.txt"
print_problem: false
print_period: 1
print_depth: 4
......@@ -13,9 +13,8 @@ config:
frame_structure: "POV"
dimension: 3
tree_manager:
follow: "../tree_manager/sliding_window_dual_20_10_10_0.yaml"
follow: "../tree_manager/sliding_window_20_0.yaml"
prior:
#follow: "../prior/POV_factor.yaml"
follow: "../prior/POV_fix.yaml"
solver:
......@@ -23,7 +22,7 @@ config:
verbose: 0
period: 0.0
n_threads: 2
update_immediately: true
update_immediately: false
min_num_iterations: 5 #if update immediately
compute_cov: true
cov_enum: 3
......@@ -97,7 +96,9 @@ config:
sensor_name: "gnss"
package: "wolf_ros_gnss"
marker_color: [0,0,1,1]
period: 0.1
line_size: 0.2
period: 0.2
max_points: 10000
ROS publisher:
-
......@@ -123,22 +124,34 @@ config:
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: 100
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"
......
yaml/M600b/processor_gnss.yaml
+ 4
− 4
View file @ 8fffb4a0
......@@ -10,7 +10,7 @@ fix: false
enu_map_fix_dist: 5
keyframe_vote:
voting_active: true
max_time_span: 0.01
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)
......@@ -32,14 +32,14 @@ gnss:
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: 0.3 # m/sqrt(s)
sigma_carrier: 0.1 # m
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
all_against_all: false
batch: false
\ No newline at end of file
yaml/M600b/sensor_bno_compass.yaml
+ 1
− 1
View file @ 8fffb4a0
......@@ -7,6 +7,6 @@ stdev_noise: 0.3
follow: "../magnetic_field.yaml"
# calibration
bias_prior_mode: "factor"
bias_prior_mode: "none"
bias_prior_state: [-14.1013377658, 4.9964863248, 38.723155555]
bias_prior_sigma: [0.3, 0.3, 0.3]
\ No newline at end of file
yaml/M600b/subscriber_imu.yaml
+ 1
− 1
View file @ 8fffb4a0
......@@ -12,5 +12,5 @@ in_degrees: true
static_init_duration: 30.0
lowpass_filter: true
lowpass_cutoff_freq: 10
lowpass_cutoff_freq: 2
dt: 0.01
\ No newline at end of file
yaml/atlantic/params.yaml
+ 43
− 24
View file @ 8fffb4a0
config:
debug:
profiling: true
profiling_file: "~/profiling_M600.txt"
profiling_file: "~/profiling_atlantic.txt"
print_problem: false
print_period: 1
print_depth: 4
......@@ -13,9 +13,8 @@ config:
frame_structure: "POV"
dimension: 3
tree_manager:
follow: "../tree_manager/sliding_window_dual_20_10_10_0.yaml"
follow: "../tree_manager/sliding_window_20_0.yaml"
prior:
#follow: "../prior/POV_factor.yaml"
follow: "../prior/POV_fix.yaml"
solver:
......@@ -23,7 +22,7 @@ config:
verbose: 0
period: 0.0
n_threads: 2
update_immediately: true
update_immediately: false
min_num_iterations: 5 #if update immediately
compute_cov: true
cov_enum: 3
......@@ -39,17 +38,17 @@ config:
name: "IMU_odometer"
plugin: "imu"
follow: "../sensor_bno.yaml"
-
type: "SensorCompass"
name: "compass"
plugin: "imu"
follow: "sensor_bno_compass.yaml"
#-
# type: "SensorCompass"
# name: "compass"
# plugin: "imu"
# follow: "sensor_bno_compass.yaml"
-
type: "SensorGnss"
name: "gnss"
plugin: "gnss"
extrinsic:
pose: [0.30, 0, 0.25] # atlantic
pose: [0,0,0]#[0.30, 0, 0.25] # atlantic
follow: "../sensor_f9t.yaml"
processors:
......@@ -59,18 +58,24 @@ config:
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: "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.yaml"
-
type: "ProcessorFixWingModel"
name: "processor fix wing"
sensor_name: "IMU_odometer"
plugin: "core"
follow: "processor_fix_wing.yaml"
ROS subscriber:
-
......@@ -85,19 +90,21 @@ config:
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: "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]
period: 0.1
line_size: 5
period: 0.2
max_points: 10000
ROS publisher:
-
......@@ -123,22 +130,34 @@ config:
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: 100
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"
......
yaml/atlantic/processor_fix_wing.yaml 0 → 100644
+ 7
− 0
View file @ 8fffb4a0
time_tolerance: 0.005 # Time tolerance for joining KFs
keyframe_vote:
voting_active: false
apply_loss_function: false
velocity_local: [1, 0, 0]
angle_stdev: 0.05
min_vel_norm: 5
\ No newline at end of file
yaml/atlantic/processor_gnss.yaml
+ 7
− 6
View file @ 8fffb4a0
......@@ -10,7 +10,7 @@ fix: false
enu_map_fix_dist: 5
keyframe_vote:
voting_active: true
max_time_span: 0.01
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)
......@@ -32,13 +32,14 @@ gnss:
LEO: false
tdcp:
enabled: true
corr_iono: false
corr_tropo: false
structure: consecutive
corr_iono: true
corr_tropo: true
corr_clock: true
loss_function: false
time_window: 10 # s
sigma_atm: 0.3 # m/sqrt(s)
sigma_carrier: 0.1 # m
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
all_against_all: false
batch: false
\ No newline at end of file
yaml/atlantic/subscriber_imu.yaml
+ 3
− 3
View file @ 8fffb4a0
enableable: true
topic_enable: "gnss_available"
imu_x_axis: 2
imu_y_axis: -1
imu_x_axis: 1
imu_y_axis: 2
imu_z_axis: 3
cov_source: "msg"
......@@ -12,5 +12,5 @@ in_degrees: true
static_init_duration: 30.0
lowpass_filter: true
lowpass_cutoff_freq: 10
lowpass_cutoff_freq: 2
dt: 0.01
\ No newline at end of file
yaml/magnetic_field.yaml
+ 1
− 1
View file @ 8fffb4a0
# https://www.ngdc.noaa.gov/geomag/calculators/magcalc.shtml#igrfwmm
# 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_mode: "none"
field_prior_state: [0.0431, 26.9, -34.8]
#field_prior_sigma: [10, 10, 10]
......
yaml/processor_ct_vel.yaml 0 → 100644
+ 5
− 0
View file @ 8fffb4a0
time_tolerance: 0.005 # Time tolerance for joining KFs
keyframe_vote:
voting_active: false
apply_loss_function: false
cov_rate_diagonal: [0.1, 0.1, 0.1]
\ No newline at end of file
yaml/scrab/params.yaml
+ 36
− 17
View file @ 8fffb4a0
config:
debug:
profiling: true
profiling_file: "~/profiling_M600.txt"
profiling_file: "~/profiling_scrab.txt"
print_problem: false
print_period: 1
print_depth: 4
......@@ -13,9 +13,8 @@ config:
frame_structure: "POV"
dimension: 3
tree_manager:
follow: "../tree_manager/sliding_window_dual_20_10_10_0.yaml"
follow: "../tree_manager/sliding_window_20_0.yaml"
prior:
#follow: "../prior/POV_factor.yaml"
follow: "../prior/POV_fix.yaml"
solver:
......@@ -23,7 +22,7 @@ config:
verbose: 0
period: 0.0
n_threads: 2
update_immediately: true
update_immediately: false
min_num_iterations: 5 #if update immediately
compute_cov: true
cov_enum: 3
......@@ -39,11 +38,11 @@ config:
name: "IMU_odometer"
plugin: "imu"
follow: "../sensor_bno.yaml"
-
type: "SensorCompass"
name: "compass"
plugin: "imu"
follow: "sensor_bno_compass.yaml"
#-
# type: "SensorCompass"
# name: "compass"
# plugin: "imu"
# follow: "sensor_bno_compass.yaml"
-
type: "SensorGnss"
name: "gnss"
......@@ -71,6 +70,12 @@ config:
sensor_name: "gnss"
plugin: "gnss"
follow: "processor_gnss.yaml"
-
type: "ProcessorFixWingModel"
name: "processor fix wing"
sensor_name: "IMU_odometer"
plugin: "core"
follow: "processor_fix_wing.yaml"
ROS subscriber:
-
......@@ -85,19 +90,21 @@ config:
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: "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]
period: 0.1
line_size: 5
period: 0.2
max_points: 10000
ROS publisher:
-
......@@ -123,22 +130,34 @@ config:
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: 100
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"
......
yaml/scrab/processor_fix_wing.yaml 0 → 100644
+ 7
− 0
View file @ 8fffb4a0
time_tolerance: 0.005 # Time tolerance for joining KFs
keyframe_vote:
voting_active: false
apply_loss_function: false
velocity_local: [1, 0, 0]
angle_stdev: 0.05
min_vel_norm: 5
\ No newline at end of file
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