Commit 933762be authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
Browse files

working on offline results

parent edd29a65
......@@ -4,6 +4,7 @@
<arg name="platform" default="M600" />
<arg name="only_gnss" default="false" />
<arg name="emulate_ublox" default="false" />
<arg name="yaml" default="params" unless="$(arg only_gnss)"/>
<arg name="yaml" default="params_only_gnss" if="$(arg only_gnss)"/>
......@@ -20,7 +21,7 @@
</group>
<!-- UBLOX EMULATOR (ONLY FOR TUCAN) -->
<group if="$(eval platform == 'tucan')">
<group if="$(arg emulate_ublox)">
<node name="ublox_emulator"
pkg ="iri_ublox_emulator"
type="iri_ublox_emulator"
......
......@@ -29,11 +29,23 @@
<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="bag_suffix" value="scrab_2021-09-17-09-59-32" if="$(eval flight == 'scrab_16')" />
<arg name="bag_suffix" value="atlantic_2021-05-28-08-11-00" if="$(eval flight == 'atlantic_28')" />
<arg name="bag_suffix" value="M600a_2021-05-27-11-24-42" if="$(eval flight == 'M600a_27_1')" />
<arg name="bag_suffix" value="M600a_2021-05-27-11-55-45" if="$(eval flight == 'M600a_27_2')" />
<arg name="bag_suffix" value="M600a_2021-05-27-13-17-29" if="$(eval flight == 'M600a_27_3')" />
<arg name="bag_suffix" value="M600a_2021-05-28-08-24-11" if="$(eval flight == 'M600a_28_1')" />
<arg name="bag_suffix" value="M600a_2021-05-28-08-50-42" if="$(eval flight == 'M600a_28_2')" />
<arg name="bag_suffix" value="M600b_2021-05-27-14-39-11" if="$(eval flight == 'M600b_27')" />
<arg name="bag_suffix" value="M600b_2021-05-28-09-57-29" if="$(eval flight == 'M600b_28')" />
<arg name="bag_suffix" value="tucan_2021-05-28-11-00-22" if="$(eval flight == 'tucan')" />
<arg name="platform" value="atlantic" if="$(eval flight == 'atlantic_16' or flight == 'atlantic_17' or flight == 'atlantic_28')" />
<arg name="platform" value="M600b" if="$(eval flight == 'M600b_16_1' or flight == 'M600b_16_2' or flight == 'M600b_17_1' or flight == 'M600b_17_2' or flight == 'M600b_27' or flight == 'M600b_28')" />
<arg name="platform" value="scrab" if="$(eval flight == 'scrab_16' or flight == 'scrab_17')" />
<arg name="platform" value="tucan" if="$(eval flight == 'tucan')" />
<arg name="platform" value="M600a" if="$(eval flight == 'M600a_27_1' or flight == 'M600a_27_2' or flight == 'M600a_27_3' or flight == 'M600a_28_1' or flight == 'M600a_28_2')" />
<arg name="sec" default="5500" if="$(eval flight == 'atlantic_16')" />
<arg name="sec" default="0" if="$(eval flight == 'atlantic_17')" />
......@@ -43,6 +55,15 @@
<arg name="sec" default="0" if="$(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="sec" default="0" if="$(eval flight == 'atlantic_28')" />
<arg name="sec" default="0" if="$(eval flight == 'M600a_27_1')" />
<arg name="sec" default="0" if="$(eval flight == 'M600a_27_2')" />
<arg name="sec" default="0" if="$(eval flight == 'M600a_27_3')" />
<arg name="sec" default="0" if="$(eval flight == 'M600a_28_1')" />
<arg name="sec" default="0" if="$(eval flight == 'M600a_28_2')" />
<arg name="sec" default="0" if="$(eval flight == 'M600b_27')" />
<arg name="sec" default="0" if="$(eval flight == 'M600b_28')" />
<arg name="sec" default="0" if="$(eval flight == 'tucan')" />
<arg name="yaml" value="params" if="$(eval conf_gnss == 1)" />
<arg name="yaml" value="params_2" if="$(eval conf_gnss == 2)" />
......
......@@ -30,6 +30,7 @@
<arg name="mqtt" value="$(arg mqtt)"/>
<arg name="remote_server" value="$(arg remote_server)"/>
<arg name="output" value="$(arg output)"/>
<arg name="emulate_ublox" value="$(eval platform == 'tucan')"/>
</include>
<!--SENSORS-->
......
#!/bin/bash
EXPERIMENTS=('atlantic_28' 'M600a_27_1' 'M600a_27_2' 'M600a_27_3' 'M600a_28_1' 'M600a_28_2' 'M600b_27' 'M600b_28' 'tucan')
CONFIGS=(1 2 3 4)
BAG_PATH="/media/jvallve/DADES/bags/GAUSS/second_field_trials_ATLAS/selected"
for experiment in "${EXPERIMENTS[@]}"
do
for config in "${CONFIGS[@]}"
do
logfile="${BAG_PATH}/roslog_${experiment}_config${config}.txt"
echo "Launch rpa_positioning_rosbag_second_field.launch with $experiment in mode $config ang generating log $logfile..."
roslaunch gauss_ros rpa_positioning_rosbag_second_field.launch flight:=$experiment conf_gnss:=$config rviz:=true bag_path:=$BAG_PATH > $logfile
done
done
\ No newline at end of file
......@@ -50,6 +50,10 @@ config:
extrinsic:
pose: [0.0, 0.0, 0.28] # M600
follow: "../sensor_f9t.yaml"
-
type: "SensorModel"
name: "dynamic_model"
plugin: "core"
processors:
-
......@@ -70,6 +74,12 @@ config:
sensor_name: "gnss"
plugin: "gnss"
follow: "processor_gnss.yaml"
-
type: "ProcessorFixWingModel"
name: "processor fix wing"
sensor_name: "dynamic_model"
plugin: "core"
follow: "processor_fix_wing.yaml"
ROS subscriber:
-
......
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"
-
type: "SensorModel"
name: "dynamic_model"
plugin: "core"
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: "dynamic_model"
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
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"
-
type: "SensorModel"
name: "dynamic_model"
plugin: "core"
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: "dynamic_model"
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
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"
-
type: "SensorModel"
name: "dynamic_model"
plugin: "core"
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: "dynamic_model"
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
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