diff --git a/yaml/params_gnss_imu.yaml b/yaml/params_gnss_imu.yaml
index 2a7958ac7185adcceb56ae4515000b336fadb659..61044b61539c1534dc8682db3a1c5568f9c53f6f 100644
--- a/yaml/params_gnss_imu.yaml
+++ b/yaml/params_gnss_imu.yaml
@@ -1,21 +1,20 @@
config:
debug:
profiling: true
- profiling_file: "~/wolf_gnss_imu_profiling.txt"
+ profiling_file: "~/profiling_demo_gnss_imu.txt"
print_problem: false
+ print_period: 1
print_depth: 4
print_constr_by: false
- print_metric: false
+ print_metric: true
print_state_blocks: false
- print_period: 1
problem:
+ node_rate: 100
frame_structure: "POV"
dimension: 3
- node_rate: 100
tree_manager:
- follow: "sliding_window.yaml"
- #follow: "sliding_window_dual.yaml"
+ follow: "sliding_window_dual.yaml"
prior:
mode: "fix"
time_tolerance: 0.1
@@ -26,39 +25,28 @@ config:
solver:
follow: "solver.yaml"
+
+ map:
+ type: "MapBase"
+ plugin: "core"
sensors:
-
type: "SensorImu"
name: "IMU_odometer"
plugin: "imu"
- extrinsic:
- pose: [0,0,0,0,0,0,1]
- a_noise: 0.53 # standard deviation of Acceleration noise (same for all the axis) in m/s2 (1/1000 max value)
- w_noise: 0.011 # standard deviation of Gyroscope noise (same for all the axis) in rad/sec (1/1000 max value)
- prior_bias: true
- ab_initial_stdev: 0.05 # m/s2 - initial bias
- wb_initial_stdev: 0.01 # rad/sec - initial bias
- bias_dynamic: false
- #ab_rate_stdev: 0.00001 # m/s2/sqrt(s)
- #wb_rate_stdev: 0.00001 # rad/s/sqrt(s)
+ follow: "sensor_bno.yaml"
-
type: "SensorGnss"
name: "gnss"
plugin: "gnss"
extrinsic:
- pose: [0, 0, 0]
- extrinsics_fixed: true
- clock_bias_GPS_GLO_dynamic: false
- clock_bias_GPS_GAL_dynamic: false
- clock_bias_GPS_CMP_dynamic: false
- ENU:
- mode: "auto"
- roll_fixed: true
- pitch_fixed: true
- yaw_fixed: true
- translation_fixed: true
- #ENU_latlonalt: [0.7092812341, 0.3998234412, 71.8593953932] # [40.6388212031 deg, 22.9081957302 deg, 71.8593953932 m]
+ pose: [0.0, 0.0, 0.28]
+ follow: "sensor_f9t.yaml"
+ -
+ type: "SensorModel"
+ name: "dynamic_model"
+ plugin: "core"
processors:
-
@@ -66,69 +54,19 @@ config:
name: "processor IMU"
sensor_name: "IMU_odometer"
plugin: "imu"
- time_tolerance: 0.005 # Time tolerance for joining KFs
- unmeasured_perturbation_std: 0.001
- keyframe_vote:
- voting_active: false
- max_time_span: 99999 # seconds
- max_buff_length: 99999 # motion deltas
- dist_traveled: 99999 # meters
- angle_turned: 99999 # radians (1 rad approx 57 deg, approx 60 deg)
- cov_det: 99999
- apply_loss_function: false
- state_getter: true
- state_priority: 1
+ follow: "processor_imu.yaml"
-
type: "ProcessorTrackerGnss"
name: "processor gnss"
sensor_name: "gnss"
plugin: "gnss"
- time_tolerance: 0.1
- apply_loss_function: false
- min_features_for_keyframe: 0 #4
- max_new_features: -1 #unlimited
- remove_outliers: true
- remove_outliers_with_fix: true
- outlier_residual_th: 10
- init_frames: false
- pseudo_ranges: true
- enu_map_fix_dist: 5
- fix: false
- keyframe_vote:
- voting_active: true
- max_time_span: 1
- min_features_for_keyframe: 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: true
- QZS: false
- CMP: false
- IRN: false
- LEO: false
- tdcp:
- enabled: true
- corr_iono: true
- corr_tropo: true
- corr_clock: true
- loss_function: false
- time_window: 100 # s
- sigma_atm: 0.0016 # m/sqrt(s)
- sigma_carrier: 0.0011 # m
- multi_freq: false
- remove_outliers: false
- batch: false
- structure: first-all
+ follow: "processor_gnss.yaml"
+ -
+ type: "ProcessorFixWingModel"
+ name: "processor fix wing"
+ sensor_name: "dynamic_model"
+ plugin: "core"
+ follow: "processor_fix_wing.yaml"
ROS subscriber:
-
@@ -136,43 +74,22 @@ config:
topic: "/ublox_gps/raw_data_stream"
sensor_name: "gnss"
package: "wolf_ros_gnss"
- process_not_available: false
- reset_receiver: false
- publish_fix:
- enabled: true
- topic: "RTKLIB_fix"
- gnss_options:
- sateph: 6 # satellite ephemeris/clock (0:broadcast ephemeris,1:precise ephemeris,2:broadcast + SBAS,3:ephemeris option: broadcast + SSR_APC,4:broadcast + SSR_COM,5: QZSS LEX ephemeris
- ionoopt: 9 # ionosphere option (0:correction off,1:broadcast mode,2:SBAS model,3:L1/L2 or L1/L5,4:estimation,5:IONEX TEC model,6:QZSS broadcast,7:QZSS LEX ionosphere,8:SLANT TEC mode)
- 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 n times
- elmin: 0.26 # elevation min (rad) = 15 degrees
- maxgdop: 30 # reject threshold of gdop (ground dilusion of precision)
- constellations:
- GPS: true
- SBS: false
- GLO: false
- GAL: true
- QZS: false
- CMP: false
- IRN: false
- LEO: false
+ follow: "subscriber_gnss_ublox.yaml"
-
type: "SubscriberImuEnableable"
topic: "/bno055_imu/imu"
sensor_name: "IMU_odometer"
package: "wolf_ros_imu"
- topic_enable: "gnss_available"
- imu_x_axis: 1
- imu_y_axis: 2
- imu_z_axis: 3
- cov_source: "sensor"
- in_degrees: true
- static_init_duration: 130.0
- lowpass_filter: true
- lowpass_cutoff_freq: 10
- dt: 0.01
+ 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:
-
@@ -180,26 +97,36 @@ config:
topic: "current_pose"
package: "wolf_ros_node"
marker_color: [1,0,0,1]
- period: 0.1
- extrinsics: false
+ 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: 0.2
+ sensor_gnss_name: "gnss"
-
type: "PublisherTf"
topic: " "
package: "wolf_ros_node"
- period: 0.1
+ period: 0.2
map_frame_id: "map"
odom_frame_id: "odom"
base_frame_id: "base"
publish_odom_tf: false
- -
- type: "PublisherGnssTf"
- topic: " "
- package: "wolf_ros_gnss"
- period: 0.1
- sensor_gnss_name: "gnss"
-
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/params_gnss_imu2.yaml b/yaml/params_gnss_imu2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2a7958ac7185adcceb56ae4515000b336fadb659
--- /dev/null
+++ b/yaml/params_gnss_imu2.yaml
@@ -0,0 +1,205 @@
+config:
+ debug:
+ profiling: true
+ profiling_file: "~/wolf_gnss_imu_profiling.txt"
+ print_problem: false
+ print_depth: 4
+ print_constr_by: false
+ print_metric: false
+ print_state_blocks: false
+ print_period: 1
+
+ problem:
+ frame_structure: "POV"
+ dimension: 3
+ node_rate: 100
+ tree_manager:
+ follow: "sliding_window.yaml"
+ #follow: "sliding_window_dual.yaml"
+ prior:
+ mode: "fix"
+ time_tolerance: 0.1
+ $state:
+ P: [0,0,0]
+ O: [0,0,0,1]
+ V: [0,0,0]
+
+ solver:
+ follow: "solver.yaml"
+
+ sensors:
+ -
+ type: "SensorImu"
+ name: "IMU_odometer"
+ plugin: "imu"
+ extrinsic:
+ pose: [0,0,0,0,0,0,1]
+ a_noise: 0.53 # standard deviation of Acceleration noise (same for all the axis) in m/s2 (1/1000 max value)
+ w_noise: 0.011 # standard deviation of Gyroscope noise (same for all the axis) in rad/sec (1/1000 max value)
+ prior_bias: true
+ ab_initial_stdev: 0.05 # m/s2 - initial bias
+ wb_initial_stdev: 0.01 # rad/sec - initial bias
+ bias_dynamic: false
+ #ab_rate_stdev: 0.00001 # m/s2/sqrt(s)
+ #wb_rate_stdev: 0.00001 # rad/s/sqrt(s)
+ -
+ type: "SensorGnss"
+ name: "gnss"
+ plugin: "gnss"
+ extrinsic:
+ pose: [0, 0, 0]
+ extrinsics_fixed: true
+ clock_bias_GPS_GLO_dynamic: false
+ clock_bias_GPS_GAL_dynamic: false
+ clock_bias_GPS_CMP_dynamic: false
+ ENU:
+ mode: "auto"
+ roll_fixed: true
+ pitch_fixed: true
+ yaw_fixed: true
+ translation_fixed: true
+ #ENU_latlonalt: [0.7092812341, 0.3998234412, 71.8593953932] # [40.6388212031 deg, 22.9081957302 deg, 71.8593953932 m]
+
+ processors:
+ -
+ type: "ProcessorImu"
+ name: "processor IMU"
+ sensor_name: "IMU_odometer"
+ plugin: "imu"
+ time_tolerance: 0.005 # Time tolerance for joining KFs
+ unmeasured_perturbation_std: 0.001
+ keyframe_vote:
+ voting_active: false
+ max_time_span: 99999 # seconds
+ max_buff_length: 99999 # motion deltas
+ dist_traveled: 99999 # meters
+ angle_turned: 99999 # radians (1 rad approx 57 deg, approx 60 deg)
+ cov_det: 99999
+ apply_loss_function: false
+ state_getter: true
+ state_priority: 1
+ -
+ type: "ProcessorTrackerGnss"
+ name: "processor gnss"
+ sensor_name: "gnss"
+ plugin: "gnss"
+ time_tolerance: 0.1
+ apply_loss_function: false
+ min_features_for_keyframe: 0 #4
+ max_new_features: -1 #unlimited
+ remove_outliers: true
+ remove_outliers_with_fix: true
+ outlier_residual_th: 10
+ init_frames: false
+ pseudo_ranges: true
+ enu_map_fix_dist: 5
+ fix: false
+ keyframe_vote:
+ voting_active: true
+ max_time_span: 1
+ min_features_for_keyframe: 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: true
+ QZS: false
+ CMP: false
+ IRN: false
+ LEO: false
+ tdcp:
+ enabled: true
+ corr_iono: true
+ corr_tropo: true
+ corr_clock: true
+ loss_function: false
+ time_window: 100 # s
+ sigma_atm: 0.0016 # m/sqrt(s)
+ sigma_carrier: 0.0011 # m
+ multi_freq: false
+ remove_outliers: false
+ batch: false
+ structure: first-all
+
+ ROS subscriber:
+ -
+ type: "SubscriberGnssUblox"
+ topic: "/ublox_gps/raw_data_stream"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ process_not_available: false
+ reset_receiver: false
+ publish_fix:
+ enabled: true
+ topic: "RTKLIB_fix"
+ gnss_options:
+ sateph: 6 # satellite ephemeris/clock (0:broadcast ephemeris,1:precise ephemeris,2:broadcast + SBAS,3:ephemeris option: broadcast + SSR_APC,4:broadcast + SSR_COM,5: QZSS LEX ephemeris
+ ionoopt: 9 # ionosphere option (0:correction off,1:broadcast mode,2:SBAS model,3:L1/L2 or L1/L5,4:estimation,5:IONEX TEC model,6:QZSS broadcast,7:QZSS LEX ionosphere,8:SLANT TEC mode)
+ 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 n times
+ elmin: 0.26 # elevation min (rad) = 15 degrees
+ maxgdop: 30 # reject threshold of gdop (ground dilusion of precision)
+ constellations:
+ GPS: true
+ SBS: false
+ GLO: false
+ GAL: true
+ QZS: false
+ CMP: false
+ IRN: false
+ LEO: false
+ -
+ type: "SubscriberImuEnableable"
+ topic: "/bno055_imu/imu"
+ sensor_name: "IMU_odometer"
+ package: "wolf_ros_imu"
+ topic_enable: "gnss_available"
+ imu_x_axis: 1
+ imu_y_axis: 2
+ imu_z_axis: 3
+ cov_source: "sensor"
+ in_degrees: true
+ static_init_duration: 130.0
+ lowpass_filter: true
+ lowpass_cutoff_freq: 10
+ dt: 0.01
+
+ ROS publisher:
+ -
+ type: "PublisherPose"
+ topic: "current_pose"
+ package: "wolf_ros_node"
+ marker_color: [1,0,0,1]
+ period: 0.1
+ extrinsics: false
+ frame_id: "ENU"
+ -
+ type: "PublisherTf"
+ topic: " "
+ package: "wolf_ros_node"
+ period: 0.1
+ map_frame_id: "map"
+ odom_frame_id: "odom"
+ base_frame_id: "base"
+ publish_odom_tf: false
+ -
+ type: "PublisherGnssTf"
+ topic: " "
+ package: "wolf_ros_gnss"
+ period: 0.1
+ sensor_gnss_name: "gnss"
+ -
+ type: "PublisherGraph"
+ topic: "graph"
+ package: "wolf_ros_node"
+ period: 0.2
diff --git a/yaml/processor_fix_wing.yaml b/yaml/processor_fix_wing.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..115b1eaf1f96ae970b31d9d658f62dac4bc8ef5c
--- /dev/null
+++ b/yaml/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/processor_gnss.yaml b/yaml/processor_gnss.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f9016bd04333c4cca66e404d8bb44d88b219655d
--- /dev/null
+++ b/yaml/processor_gnss.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: 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/processor_imu.yaml b/yaml/processor_imu.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..dd32067a62379b311527d7178ef97a2e8efec44a
--- /dev/null
+++ b/yaml/processor_imu.yaml
@@ -0,0 +1,13 @@
+time_tolerance: 0.005 # Time tolerance for joining KFs
+unmeasured_perturbation_std: 0.001
+keyframe_vote:
+ voting_active: false
+ max_time_span: 99999 # seconds
+ max_buff_length: 99999 # motion deltas
+ dist_traveled: 99999 # meters
+ angle_turned: 99999 # radians (1 rad approx 57 deg, approx 60 deg)
+ cov_det: 99999
+apply_loss_function: false
+
+state_getter: true
+state_priority: 1
\ No newline at end of file
diff --git a/yaml/sensor_bno.yaml b/yaml/sensor_bno.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..68277838cb2d6fc76815e73abff713afe06a1a97
--- /dev/null
+++ b/yaml/sensor_bno.yaml
@@ -0,0 +1,10 @@
+extrinsic:
+ pose: [0,0,0,0,0,0,1]
+a_noise: 0.53 # standard deviation of Acceleration noise (same for all the axis) in m/s2 (1/1000 max value)
+w_noise: 0.011 # standard deviation of Gyroscope noise (same for all the axis) in rad/sec (1/1000 max value)
+prior_bias: true
+ab_initial_stdev: 0.05 # m/s2 - initial bias
+wb_initial_stdev: 0.01 # rad/sec - initial bias
+bias_dynamic: false
+ab_rate_stdev: 0.00001 # m/s2/sqrt(s)
+wb_rate_stdev: 0.00001 # rad/s/sqrt(s)
diff --git a/yaml/sensor_f9t.yaml b/yaml/sensor_f9t.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2917affecf2faed0c7c45be280032e0800a918a8
--- /dev/null
+++ b/yaml/sensor_f9t.yaml
@@ -0,0 +1,10 @@
+extrinsics_fixed: true
+clock_bias_GPS_GLO_dynamic: false
+clock_bias_GPS_GAL_dynamic: false
+clock_bias_GPS_CMP_dynamic: false
+ENU:
+ mode: "auto"
+ roll_fixed: true
+ pitch_fixed: true
+ yaw_fixed: true
+ translation_fixed: true
\ No newline at end of file
diff --git a/yaml/subscriber_gnss_ublox.yaml b/yaml/subscriber_gnss_ublox.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..49e802099c834055f59f085b0e1fe32dcf064266
--- /dev/null
+++ b/yaml/subscriber_gnss_ublox.yaml
@@ -0,0 +1,24 @@
+process_not_available: false
+publish_fix:
+ enabled: true
+ topic: "RTKLIB_fix"
+gnss_options:
+ sateph: 6 # satellite ephemeris/clock (0:broadcast ephemeris,1:precise ephemeris,2:broadcast + SBAS,3:ephemeris option: broadcast + SSR_APC,4:broadcast + SSR_COM,5: QZSS LEX ephemeris
+ ionoopt: 9 # ionosphere option (0:correction off,1:broadcast mode,2:SBAS model,3:L1/L2 or L1/L5,4:estimation,5:IONEX TEC model,6:QZSS broadcast,7:QZSS LEX ionosphere,8:SLANT TEC mode)
+ 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 n times
+ elmin: 0.26 # elevation min (rad) = 15 degrees
+ maxgdop: 30 # reject threshold of gdop (ground dilusion of precision)
+ constellations:
+ GPS: true
+ SBS: false
+ GLO: false
+ GAL: true
+ QZS: false
+ CMP: false
+ IRN: false
+ LEO: false
+reset_receiver: true
+reset_max_topic_delay: 1
+reset_duration: 20
\ No newline at end of file
diff --git a/yaml/subscriber_imu.yaml b/yaml/subscriber_imu.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1866e544ea6ab1a3103ab73d3b147709e81b571b
--- /dev/null
+++ b/yaml/subscriber_imu.yaml
@@ -0,0 +1,16 @@
+enableable: true
+topic_enable: "gnss_available"
+
+imu_x_axis: 1
+imu_y_axis: 2
+imu_z_axis: 3
+
+cov_source: "msg"
+
+in_degrees: true
+
+static_init_duration: 30.0
+
+lowpass_filter: true
+lowpass_cutoff_freq: 2
+dt: 0.01
\ No newline at end of file