diff --git a/launch/rpa_positioning.launch b/launch/rpa_positioning.launch
index f7035a6dc77b96c9d13c17913dbb3730a5920dba..bd45cc5fece52991c0d6ae075a773c237c3e34a1 100644
--- a/launch/rpa_positioning.launch
+++ b/launch/rpa_positioning.launch
@@ -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"
diff --git a/launch/rpa_positioning_rosbag_second_field.launch b/launch/rpa_positioning_rosbag_second_field.launch
index dec8aa106f23b5aa2a756b0ffedde8eb3bf040f4..ca3f25e3041425de40c4c15a7e1d002ddcd34f39 100644
--- a/launch/rpa_positioning_rosbag_second_field.launch
+++ b/launch/rpa_positioning_rosbag_second_field.launch
@@ -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="$(eval conf_gnss == 2)" />
diff --git a/launch/rpa_positioning_sensors.launch b/launch/rpa_positioning_sensors.launch
index 0ed47b44117e5b74ea250f928fc2486f7da1d1b6..6b9b84d740ed362a6bc0d62d752d81d0ed1a20b0 100644
--- a/launch/rpa_positioning_sensors.launch
+++ b/launch/rpa_positioning_sensors.launch
@@ -30,6 +30,7 @@
<arg name="mqtt" value="$(arg mqtt)"/>
<arg name="remote_server" value="$(arg remote_server)"/>
<arg name="output" value="$(arg output)"/>
+ <arg name="emulate_ublox" value="$(eval platform == 'tucan')"/>
</include>
<!--SENSORS-->
diff --git a/scripts/multi_launch_positioning_rosbag_ATLAS.sh b/scripts/multi_launch_positioning_rosbag_ATLAS.sh
new file mode 100755
index 0000000000000000000000000000000000000000..744cf271d3f58fdee83ef4526d93debb88c329eb
--- /dev/null
+++ b/scripts/multi_launch_positioning_rosbag_ATLAS.sh
@@ -0,0 +1,15 @@
+#!/bin/bash
+
+EXPERIMENTS=('atlantic_28' 'M600a_27_1' 'M600a_27_2' 'M600a_27_3' 'M600a_28_1' 'M600a_28_2' 'M600b_27' 'M600b_28' 'tucan')
+CONFIGS=(1 2 3 4)
+BAG_PATH="/media/jvallve/DADES/bags/GAUSS/second_field_trials_ATLAS/selected"
+
+for experiment in "${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
diff --git a/yaml/M600a/params.yaml b/yaml/M600a/params.yaml
index a22422a23dc83922092e2cc0fe1c889ce3144eb0..d75a0a8a21aa975870f13f737f56223a185f6ea4 100644
--- a/yaml/M600a/params.yaml
+++ b/yaml/M600a/params.yaml
@@ -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:
-
diff --git a/yaml/M600a/params_2.yaml b/yaml/M600a/params_2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..07916e0877667cfaf2b2ba0f4609d4055f467b48
--- /dev/null
+++ b/yaml/M600a/params_2.yaml
@@ -0,0 +1,169 @@
+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
diff --git a/yaml/M600a/params_3.yaml b/yaml/M600a/params_3.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d09eeada3b47e206dfa7f1fd8195cd4e61007b63
--- /dev/null
+++ b/yaml/M600a/params_3.yaml
@@ -0,0 +1,169 @@
+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
diff --git a/yaml/M600a/params_4.yaml b/yaml/M600a/params_4.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..14a02dead496abee1e06aadba4a986e635bcdba1
--- /dev/null
+++ b/yaml/M600a/params_4.yaml
@@ -0,0 +1,169 @@
+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
diff --git a/yaml/M600a/processor_fix_wing.yaml b/yaml/M600a/processor_fix_wing.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..115b1eaf1f96ae970b31d9d658f62dac4bc8ef5c
--- /dev/null
+++ b/yaml/M600a/processor_fix_wing.yaml
@@ -0,0 +1,7 @@
+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: 1
\ No newline at end of file
diff --git a/yaml/M600a/processor_gnss_2.yaml b/yaml/M600a/processor_gnss_2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0af73990647fbfdbcc5d9239ea7b20f7a3f13fe7
--- /dev/null
+++ b/yaml/M600a/processor_gnss_2.yaml
@@ -0,0 +1,45 @@
+time_tolerance: 0.1
+apply_loss_function: false
+max_new_features: -1 #unlimited
+remove_outliers: true
+remove_outliers_with_fix: true
+outlier_residual_th: 10
+init_frames: false
+pseudo_ranges: true
+fix: false
+enu_map_fix_dist: 5
+keyframe_vote:
+ voting_active: true
+ max_time_span: 0.5
+ min_features_for_keyframe: 0 #4
+gnss:
+ sateph: 0 # 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)
+ ionoopt: 1 # ionosphere option: IONOOPT_OFF(0):correction off, IONOOPT_BRDC(1):broadcast mode, IONOOPT_SBAS(2):SBAS model, IONOOPT_IFLC(3):L1/L2 or L1/L5, IONOOPT_EST(4):estimation, IONOOPT_TEC(5):IONEX TEC model, IONOOPT_QZS(6):QZSS broadcast, IONOOPT_LEX(7):QZSS LEX ionosphere, IONOOPT_STEC(8):SLANT TEC mode, IONOOPT_SBAS2(9):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), IONOOPT_SBAS3(10):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_SBAS2), IONOOPT_SBAS4(8):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_BRDC)
+ tropopt: 1 # troposphere option: (0:correction off,1:Saastamoinen model,2:SBAS model,3:troposphere option: ZTD estimation,4:ZTD+grad estimation,5:ZTD correction,6:ZTD+grad correction)
+ sbascorr: 15 # SBAS option (1:long term correction,2:fast correction,4:ionosphere correction,8:ranging)
+ raim: 1 # apply RAIM
+ elmin: 0.26 # elevation min (rad) = 15 degrees
+ maxgdop: 30 # reject threshold of gdop (ground dilusion of precision)
+ min_sbas_sats: 5 # used in case of EPHOPT_SBAS3, EPHOPT_SBAS4, IONOOPT_SBAS3, IONOOPT_SBAS4
+ constellations:
+ GPS: true
+ SBS: false
+ GLO: false
+ GAL: true
+ QZS: false
+ CMP: false
+ IRN: false
+ 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: 0.0016 #1.6mm/sqrt(s) # m/sqrt(s)
+ sigma_carrier: 0.0011 #1.1mm/sqrt(s) # m
+ multi_freq: false
+ remove_outliers: false
+ batch: false
\ No newline at end of file
diff --git a/yaml/M600a/processor_gnss_3.yaml b/yaml/M600a/processor_gnss_3.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0483aece09c007f8c00054a87ac1fa3cf658ebc4
--- /dev/null
+++ b/yaml/M600a/processor_gnss_3.yaml
@@ -0,0 +1,45 @@
+time_tolerance: 0.1
+apply_loss_function: false
+max_new_features: -1 #unlimited
+remove_outliers: true
+remove_outliers_with_fix: true
+outlier_residual_th: 10
+init_frames: false
+pseudo_ranges: true
+fix: false
+enu_map_fix_dist: 5
+keyframe_vote:
+ voting_active: true
+ 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)
+ ionoopt: 9 # ionosphere option: IONOOPT_OFF(0):correction off, IONOOPT_BRDC(1):broadcast mode, IONOOPT_SBAS(2):SBAS model, IONOOPT_IFLC(3):L1/L2 or L1/L5, IONOOPT_EST(4):estimation, IONOOPT_TEC(5):IONEX TEC model, IONOOPT_QZS(6):QZSS broadcast, IONOOPT_LEX(7):QZSS LEX ionosphere, IONOOPT_STEC(8):SLANT TEC mode, IONOOPT_SBAS2(9):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), IONOOPT_SBAS3(10):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_SBAS2), IONOOPT_SBAS4(8):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_BRDC)
+ tropopt: 2 # troposphere option: (0:correction off,1:Saastamoinen model,2:SBAS model,3:troposphere option: ZTD estimation,4:ZTD+grad estimation,5:ZTD correction,6:ZTD+grad correction)
+ sbascorr: 15 # SBAS option (1:long term correction,2:fast correction,4:ionosphere correction,8:ranging)
+ raim: 1 # apply RAIM
+ elmin: 0.26 # elevation min (rad) = 15 degrees
+ maxgdop: 30 # reject threshold of gdop (ground dilusion of precision)
+ min_sbas_sats: 5 # used in case of EPHOPT_SBAS3, EPHOPT_SBAS4, IONOOPT_SBAS3, IONOOPT_SBAS4
+ constellations:
+ GPS: true
+ SBS: false
+ GLO: false
+ GAL: false
+ QZS: false
+ CMP: false
+ IRN: false
+ 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: 0.0016 #1.6mm/sqrt(s) # m/sqrt(s)
+ sigma_carrier: 0.0011 #1.1mm/sqrt(s) # m
+ multi_freq: false
+ remove_outliers: false
+ batch: false
\ No newline at end of file
diff --git a/yaml/M600a/processor_gnss_4.yaml b/yaml/M600a/processor_gnss_4.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..25c554acbc4d6c7f11caaedaa26a639e3dbf58a7
--- /dev/null
+++ b/yaml/M600a/processor_gnss_4.yaml
@@ -0,0 +1,45 @@
+time_tolerance: 0.1
+apply_loss_function: false
+max_new_features: -1 #unlimited
+remove_outliers: true
+remove_outliers_with_fix: true
+outlier_residual_th: 10
+init_frames: false
+pseudo_ranges: true
+fix: false
+enu_map_fix_dist: 5
+keyframe_vote:
+ voting_active: true
+ max_time_span: 0.5
+ min_features_for_keyframe: 0 #4
+gnss:
+ sateph: 0 # 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)
+ ionoopt: 1 # ionosphere option: IONOOPT_OFF(0):correction off, IONOOPT_BRDC(1):broadcast mode, IONOOPT_SBAS(2):SBAS model, IONOOPT_IFLC(3):L1/L2 or L1/L5, IONOOPT_EST(4):estimation, IONOOPT_TEC(5):IONEX TEC model, IONOOPT_QZS(6):QZSS broadcast, IONOOPT_LEX(7):QZSS LEX ionosphere, IONOOPT_STEC(8):SLANT TEC mode, IONOOPT_SBAS2(9):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), IONOOPT_SBAS3(10):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_SBAS2), IONOOPT_SBAS4(8):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_BRDC)
+ tropopt: 1 # troposphere option: (0:correction off,1:Saastamoinen model,2:SBAS model,3:troposphere option: ZTD estimation,4:ZTD+grad estimation,5:ZTD correction,6:ZTD+grad correction)
+ sbascorr: 15 # SBAS option (1:long term correction,2:fast correction,4:ionosphere correction,8:ranging)
+ raim: 1 # apply RAIM
+ elmin: 0.26 # elevation min (rad) = 15 degrees
+ maxgdop: 30 # reject threshold of gdop (ground dilusion of precision)
+ min_sbas_sats: 5 # used in case of EPHOPT_SBAS3, EPHOPT_SBAS4, IONOOPT_SBAS3, IONOOPT_SBAS4
+ constellations:
+ GPS: true
+ SBS: false
+ GLO: false
+ GAL: false
+ QZS: false
+ CMP: false
+ IRN: false
+ 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: 0.0016 #1.6mm/sqrt(s) # m/sqrt(s)
+ sigma_carrier: 0.0011 #1.1mm/sqrt(s) # m
+ multi_freq: false
+ remove_outliers: false
+ batch: false
\ No newline at end of file
diff --git a/yaml/tucan/params.yaml b/yaml/tucan/params.yaml
index d8ebca767d99e857fd0619b891618773b8e73be9..ae8771c600869c0b3586a5e0390a5c0fc5cab8b3 100644
--- a/yaml/tucan/params.yaml
+++ b/yaml/tucan/params.yaml
@@ -38,11 +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"
@@ -50,6 +50,10 @@ config:
extrinsic:
pose: [0.30, 0, -0.05] # TUCAN
follow: "../sensor_f9t.yaml"
+ -
+ type: "SensorModel"
+ name: "dynamic_model"
+ plugin: "core"
processors:
-
@@ -58,18 +62,24 @@ 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: "dynamic_model"
+ plugin: "core"
+ follow: "processor_fix_wing.yaml"
ROS subscriber:
-
@@ -84,12 +94,12 @@ 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"
@@ -107,6 +117,18 @@ config:
package: "wolf_ros_gauss"
period: 0.1
sensor: "gnss"
+ -
+ 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: "PublisherPose"
topic: "current_pose"
@@ -138,7 +160,6 @@ config:
topic: "graph"
package: "wolf_ros_node"
period: 0.2
- text_scale: 50
viz_scale: 50
-
type: "PublisherTrackerGnssInfo"
diff --git a/yaml/tucan/publisher_rpa_state_info.yaml b/yaml/tucan/publisher_rpa_state_info.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4afdb2363e79b52f72d0036e14743226c61b995b
--- /dev/null
+++ b/yaml/tucan/publisher_rpa_state_info.yaml
@@ -0,0 +1,8 @@
+topic_security: "/alarm_data"
+sensor: "gnss"
+icao: 3434009 # atlantic
+k_H: 5.256522
+k_V: 4.891638
+HAL: 20 #20/10
+VAL: 30 #30/444
+yaw_offset: 0.0
\ No newline at end of file