new sensor for dynamic model

rviz/positioning_rosbag.rviz

@@ -378,7 +378,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 426.783173
+      Distance: 14072.915
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1

yaml/IRI/params.yaml

@@ -51,6 +51,10 @@ config:
          pose: [0.0, 0.0, 0.28] # M600
          #pose: [1.36, -0.04, 0.280] # BNO055 in rosbag
       follow: "../sensor_f9t.yaml"
+    -
+      type: "SensorModel"
+      name: "dynamic_model"
+      plugin: "core"
 
   processors:
     -
@@ -80,7 +84,7 @@ config:
     -
       type: "ProcessorFixWingModel"
       name: "processor fix wing"
-      sensor_name: "IMU_odometer"
+      sensor_name: "dynamic_model"
       plugin: "core"
       follow: "../processor_fix_wing.yaml"
       

yaml/M600b/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:
     -
@@ -73,7 +77,7 @@ config:
     -
       type: "ProcessorFixWingModel"
       name: "processor fix wing"
-      sensor_name: "IMU_odometer"
+      sensor_name: "dynamic_model"
       plugin: "core"
       follow: "processor_fix_wing.yaml"
       

yaml/M600b/params_2.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:
     -
@@ -73,7 +77,7 @@ config:
     -
       type: "ProcessorFixWingModel"
       name: "processor fix wing"
-      sensor_name: "IMU_odometer"
+      sensor_name: "dynamic_model"
       plugin: "core"
       follow: "processor_fix_wing.yaml"
       

yaml/M600b/params_3.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:
     -
@@ -73,7 +77,7 @@ config:
     -
       type: "ProcessorFixWingModel"
       name: "processor fix wing"
-      sensor_name: "IMU_odometer"
+      sensor_name: "dynamic_model"
       plugin: "core"
       follow: "processor_fix_wing.yaml"
       

yaml/M600b/params_4.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:
     -
@@ -73,7 +77,7 @@ config:
     -
       type: "ProcessorFixWingModel"
       name: "processor fix wing"
-      sensor_name: "IMU_odometer"
+      sensor_name: "dynamic_model"
       plugin: "core"
       follow: "processor_fix_wing.yaml"
       

yaml/atlantic/params.yaml

@@ -50,6 +50,10 @@ config:
       extrinsic:
          pose: [0,0,0]#[0.30, 0, 0.25] # atlantic
       follow: "../sensor_f9t.yaml"
+    -
+      type: "SensorModel"
+      name: "dynamic_model"
+      plugin: "core"
 
   processors:
     -
@@ -73,7 +77,7 @@ config:
     -
       type: "ProcessorFixWingModel"
       name: "processor fix wing"
-      sensor_name: "IMU_odometer"
+      sensor_name: "dynamic_model"
       plugin: "core"
       follow: "processor_fix_wing.yaml"
       

yaml/atlantic/params_2.yaml

@@ -50,6 +50,10 @@ config:
       extrinsic:
          pose: [0,0,0]#[0.30, 0, 0.25] # atlantic
       follow: "../sensor_f9t.yaml"
+    -
+      type: "SensorModel"
+      name: "dynamic_model"
+      plugin: "core"
 
   processors:
     -
@@ -73,7 +77,7 @@ config:
     -
       type: "ProcessorFixWingModel"
       name: "processor fix wing"
-      sensor_name: "IMU_odometer"
+      sensor_name: "dynamic_model"
       plugin: "core"
       follow: "processor_fix_wing.yaml"
       

yaml/atlantic/params_3.yaml

@@ -50,6 +50,10 @@ config:
       extrinsic:
          pose: [0,0,0]#[0.30, 0, 0.25] # atlantic
       follow: "../sensor_f9t.yaml"
+    -
+      type: "SensorModel"
+      name: "dynamic_model"
+      plugin: "core"
 
   processors:
     -
@@ -73,7 +77,7 @@ config:
     -
       type: "ProcessorFixWingModel"
       name: "processor fix wing"
-      sensor_name: "IMU_odometer"
+      sensor_name: "dynamic_model"
       plugin: "core"
       follow: "processor_fix_wing.yaml"
       

yaml/atlantic/params_4.yaml

@@ -50,6 +50,10 @@ config:
       extrinsic:
          pose: [0,0,0]#[0.30, 0, 0.25] # atlantic
       follow: "../sensor_f9t.yaml"
+    -
+      type: "SensorModel"
+      name: "dynamic_model"
+      plugin: "core"
 
   processors:
     -
@@ -73,7 +77,7 @@ config:
     -
       type: "ProcessorFixWingModel"
       name: "processor fix wing"
-      sensor_name: "IMU_odometer"
+      sensor_name: "dynamic_model"
       plugin: "core"
       follow: "processor_fix_wing.yaml"
       

yaml/scrab/params.yaml

@@ -50,6 +50,10 @@ config:
       extrinsic:
          pose: [0,0,0]#[1.36, -0.04, 0.280] # BNO055 in rosbag
       follow: "../sensor_f9t.yaml"
+    -
+      type: "SensorModel"
+      name: "dynamic_model"
+      plugin: "core"
 
   processors:
     -
@@ -73,7 +77,7 @@ config:
     -
       type: "ProcessorFixWingModel"
       name: "processor fix wing"
-      sensor_name: "IMU_odometer"
+      sensor_name: "dynamic_model"
       plugin: "core"
       follow: "processor_fix_wing.yaml"
       

yaml/scrab/params_2.yaml

@@ -50,6 +50,10 @@ config:
       extrinsic:
          pose: [0,0,0]#[1.36, -0.04, 0.280] # BNO055 in rosbag
       follow: "../sensor_f9t.yaml"
+    -
+      type: "SensorModel"
+      name: "dynamic_model"
+      plugin: "core"
 
   processors:
     -
@@ -73,7 +77,7 @@ config:
     -
       type: "ProcessorFixWingModel"
       name: "processor fix wing"
-      sensor_name: "IMU_odometer"
+      sensor_name: "dynamic_model"
       plugin: "core"
       follow: "processor_fix_wing.yaml"
       

yaml/scrab/params_3.yaml

@@ -50,6 +50,10 @@ config:
       extrinsic:
          pose: [0,0,0]#[1.36, -0.04, 0.280] # BNO055 in rosbag
       follow: "../sensor_f9t.yaml"
+    -
+      type: "SensorModel"
+      name: "dynamic_model"
+      plugin: "core"
 
   processors:
     -
@@ -73,7 +77,7 @@ config:
     -
       type: "ProcessorFixWingModel"
       name: "processor fix wing"
-      sensor_name: "IMU_odometer"
+      sensor_name: "dynamic_model"
       plugin: "core"
       follow: "processor_fix_wing.yaml"
       

yaml/scrab/params_4.yaml

@@ -50,6 +50,10 @@ config:
       extrinsic:
          pose: [0,0,0]#[1.36, -0.04, 0.280] # BNO055 in rosbag
       follow: "../sensor_f9t.yaml"
+    -
+      type: "SensorModel"
+      name: "dynamic_model"
+      plugin: "core"
 
   processors:
     -
@@ -73,7 +77,7 @@ config:
     -
       type: "ProcessorFixWingModel"
       name: "processor fix wing"
-      sensor_name: "IMU_odometer"
+      sensor_name: "dynamic_model"
       plugin: "core"
       follow: "processor_fix_wing.yaml"