diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
new file mode 100644
index 0000000000000000000000000000000000000000..eb16bf147665160995ef3124a3c540fa79387383
--- /dev/null
+++ b/.gitlab-ci.yml
@@ -0,0 +1,208 @@
+stages:
+ - demo
+
+############ YAML ANCHORS ############
+.preliminaries_template: &preliminaries_definition
+ ## Install ssh-agent if not already installed, it is required by Docker.
+ ## (change apt-get to yum if you use an RPM-based image)
+ - 'which ssh-agent || ( apt-get update -y && apt-get install openssh-client -y )'
+
+ ## Run ssh-agent (inside the build environment)
+ - eval $(ssh-agent -s)
+
+ ## Add the SSH key stored in SSH_PRIVATE_KEY variable to the agent store
+ ## We're using tr to fix line endings which makes ed25519 keys work
+ ## without extra base64 encoding.
+ ## https://gitlab.com/gitlab-examples/ssh-private-key/issues/1#note_48526556
+ - mkdir -p ~/.ssh
+ - chmod 700 ~/.ssh
+ - echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add - > /dev/null
+ # - echo "$SSH_KNOWN_HOSTS" > $HOME/.ssh/known_hosts
+ - ssh-keyscan -H -p 2202 gitlab.iri.upc.edu >> $HOME/.ssh/known_hosts
+
+ # update apt
+ - apt-get update
+
+ # create ci_deps folder (if not exists)
+ - mkdir -pv ci_deps
+
+ # manually source ros setup.bash
+ - source /root/catkin_ws/devel/setup.bash
+ - roscd # check that it works
+
+.install_wolf_template: &install_wolf_definition
+ - cd ${CI_PROJECT_DIR}/ci_deps
+ - if [ -d wolf ]; then
+ - echo "directory wolf exists"
+ - cd wolf
+ - git checkout devel
+ - git pull
+ - git checkout $WOLF_CORE_BRANCH
+ - else
+ - git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/wolf.git
+ - cd wolf
+ - git checkout $WOLF_CORE_BRANCH
+ - fi
+ - mkdir -pv build
+ - cd build
+ - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_DEMOS=OFF -DBUILD_TESTS=OFF ..
+ - make -j$(nproc)
+ - make install
+ - ldconfig
+
+.install_gnssutils_template: &install_gnssutils_definition
+ - cd ${CI_PROJECT_DIR}/ci_deps
+ - if [ -d gnss_utils ]; then
+ - echo "directory gnss_utils exists"
+ - cd gnss_utils
+ - git pull
+ - else
+ - git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/gauss_project/gnss_utils.git
+ - cd gnss_utils
+ - git submodule update --init
+ - fi
+ - mkdir -pv build
+ - cd build
+ - rm -rf *
+ - cmake -DCMAKE_BUILD_TYPE=release ..
+ - make -j$(nproc)
+ - make install
+ - ldconfig
+
+.install_wolfgnss_template: &install_wolfgnss_definition
+ - cd ${CI_PROJECT_DIR}/ci_deps
+ - if [ -d gnss ]; then
+ - echo "directory gnss exists"
+ - cd gnss
+ - git checkout devel
+ - git pull
+ - git checkout $WOLF_GNSS_BRANCH
+ - else
+ - git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/gnss.git
+ - cd gnss
+ - git checkout $WOLF_GNSS_BRANCH
+ - fi
+ - mkdir -pv build
+ - cd build
+ - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_TESTS=OFF ..
+ - make -j$(nproc)
+ - make install
+ - ldconfig
+
+.install_wolfimu_template: &install_wolfimu_definition
+ - cd ${CI_PROJECT_DIR}/ci_deps
+ - if [ -d imu ]; then
+ - echo "directory imu exists"
+ - cd imu
+ - git checkout devel
+ - git pull
+ - git checkout $WOLF_IMU_BRANCH
+ - else
+ - git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/imu.git
+ - cd imu
+ - git checkout $WOLF_IMU_BRANCH
+ - fi
+ - mkdir -pv build
+ - cd build
+ - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_TESTS=OFF ..
+ - make -j$(nproc)
+ - make install
+ - ldconfig
+
+.clone_wolfrosnode_template: &clone_wolfrosnode_definition
+ - roscd
+ - cd ../src
+ - git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_ros/wolf_ros_node.git
+ - cd wolf_ros_node
+ - git checkout $WOLF_ROS_CORE_BRANCH
+
+.clone_wolfrosgnss_template: &clone_wolfrosgnss_definition
+ - roscd
+ - cd ../src
+ - git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_ros/wolf_ros_gnss.git
+ - cd wolf_ros_gnss
+ - git checkout $WOLF_ROS_GNSS_BRANCH
+
+.clone_wolfrosimu_template: &clone_wolfrosimu_definition
+ - roscd
+ - cd ../src
+ - git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_ros/wolf_ros_imu.git
+ - cd wolf_ros_imu
+ - git checkout $WOLF_ROS_IMU_BRANCH
+
+.demo_template: &demo_definition
+ - roscd
+ - cd ../src
+ - git clone ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git
+ - cd wolf_demo_gnss_imu
+ - git checkout $CI_COMMIT_BRANCH
+ - cd ../..
+ - catkin_make
+ - roslaunch wolf_demo_gnss demo_gnss_raw.launch rviz:=false
+ - roslaunch wolf_demo_gnss demo_imu_gnss_raw.launch rviz:=false
+
+############ UBUNTU 16.04 TEST ############
+demo:xenial:
+ stage: demo
+ image: labrobotica/wolf_deps_ros:16.04
+ cache:
+ - key: wolf_and_deps-xenial
+ paths:
+ - ci_deps
+ except:
+ - master
+ before_script:
+ - *preliminaries_definition
+ - *install_wolf_definition
+ - *install_gnssutils_definition
+ - *install_wolfgnss_definition
+ - *install_wolfimu_definition
+ - *clone_wolfrosnode_definition
+ - *clone_wolfrosgnss_definition
+ - *clone_wolfrosimu_definition
+ script:
+ - *demo_definition
+
+############ UBUNTU 18.04 TEST ############
+demo:bionic:
+ stage: demo
+ image: labrobotica/wolf_deps_ros:18.04
+ cache:
+ - key: wolf_and_deps-bionic
+ paths:
+ - ci_deps
+ except:
+ - master
+ before_script:
+ - *preliminaries_definition
+ - *install_wolf_definition
+ - *install_gnssutils_definition
+ - *install_wolfgnss_definition
+ - *install_wolfimu_definition
+ - *clone_wolfrosnode_definition
+ - *clone_wolfrosgnss_definition
+ - *clone_wolfrosimu_definition
+ script:
+ - *demo_definition
+
+############ UBUNTU 20.04 TEST ############
+demo:focal:
+ stage: demo
+ image: labrobotica/wolf_deps_ros:20.04
+ cache:
+ - key: wolf_and_deps-focal
+ paths:
+ - ci_deps
+ except:
+ - master
+ before_script:
+ - *preliminaries_definition
+ - *install_wolf_definition
+ - *install_gnssutils_definition
+ - *install_wolfgnss_definition
+ - *install_wolfimu_definition
+ - *clone_wolfrosnode_definition
+ - *clone_wolfrosgnss_definition
+ - *clone_wolfrosimu_definition
+ script:
+ - *demo_definition
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7111f1378a9c61a3da328436a7d7f7a99c86f8cc
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,202 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(wolf_demo_gnss_imu)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES wolf_demo_gnss2
+# CATKIN_DEPENDS other_catkin_pkg
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/wolf_demo_gnss2.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/wolf_demo_gnss2_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_wolf_demo_gnss2.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/launch/demo_gnss_raw.launch b/launch/demo_gnss_raw.launch
new file mode 100644
index 0000000000000000000000000000000000000000..c8ed69cce230c058971510f023529f1bf67bd4ca
--- /dev/null
+++ b/launch/demo_gnss_raw.launch
@@ -0,0 +1,49 @@
+<!-- -->
+<launch>
+ <arg name="rviz" default="false" />
+ <arg name="speed" default="1" />
+ <arg name="sec" default="0" />
+ <arg name="profiling" default="false" />
+ <arg name="gdb" default="false" />
+ <arg name="launch_pref" default="" unless="$(eval profiling or gdb)"/>
+ <arg name="launch_pref" value="valgrind --tool=callgrind --callgrind-out-file='callgrind.wolf.%p'" if="$(arg profiling)" />
+ <arg name="launch_pref" value="gdb -ex run --args" if="$(arg gdb)" />
+
+ <!-- using "clock" option to use the simulated time. Rosbag launch as the first node -->
+ <param name="use_sim_time" value="true" />
+
+ <!--TF-->
+ <node pkg="tf"
+ type="static_transform_publisher"
+ name="odom_base"
+ args="0 0 0 0 0 0 odom base 1000" />
+
+ <!--WOLF-->
+ <node type="wolf_ros_node"
+ name="wolf_ros_node"
+ pkg="wolf_ros_node"
+ output="screen"
+ required="false"
+ launch-prefix="$(arg launch_pref)">
+ <param name="~yaml_file_path" value="$(find wolf_demo_gnss)/yaml/params_gnss_raw.yaml"/>
+ </node>
+
+ <!--VISUALIZATION-->
+ <group if="$(arg rviz)">
+ <node name="rviz"
+ pkg="rviz"
+ type="rviz"
+ args="-d $(find wolf_demo_gnss)/rviz/gnss.rviz" />
+ </group>
+
+ <!--ROSBAG PLAY-->
+ <node pkg="rosbag"
+ type="play"
+ name="player"
+ required="true"
+ args="-r $(arg speed)
+ -s $(arg sec)
+ --clock
+ $(find wolf_demo_gnss)/bag/mini8_2020-09-28-11-28-08.bag"/>
+
+</launch>
diff --git a/launch/demo_imu_gnss_raw.launch b/launch/demo_imu_gnss_raw.launch
new file mode 100644
index 0000000000000000000000000000000000000000..b3167df59d66d4932eea84d49d81e60a2049fcab
--- /dev/null
+++ b/launch/demo_imu_gnss_raw.launch
@@ -0,0 +1,56 @@
+<!-- -->
+<launch>
+ <arg name="rviz" default="false" />
+ <arg name="record" default="false" />
+ <arg name="speed" default="1" />
+ <arg name="sec" default="0" />
+ <arg name="profiling" default="false" />
+ <arg name="gdb" default="false" />
+ <arg name="launch_pref" default="" unless="$(eval profiling or gdb)"/>
+ <arg name="launch_pref" value="valgrind --tool=callgrind --callgrind-out-file='callgrind.wolf.%p'" if="$(arg profiling)" />
+ <arg name="launch_pref" value="gdb -ex run --args" if="$(arg gdb)" />
+
+ <!-- using "clock" option to use the simulated time. Rosbag launch as the first node -->
+ <param name="use_sim_time" value="true" />
+
+ <!--TF-->
+ <node pkg="tf"
+ type="static_transform_publisher"
+ name="odom_base"
+ args="0 0 0 0 0 0 odom base 1000" />
+
+ <!--WOLF-->
+ <node type="wolf_ros_node"
+ name="wolf_ros_node"
+ pkg="wolf_ros_node"
+ output="screen"
+ required="false"
+ launch-prefix="$(arg launch_pref)">
+ <param name="~yaml_file_path" value="$(find wolf_demo_gnss)/yaml/params_imu_gnss_raw.yaml"/>
+ </node>
+
+ <!--VISUALIZATION-->
+ <group if="$(arg rviz)">
+ <node name="rviz"
+ pkg="rviz"
+ type="rviz"
+ args="-d $(find wolf_demo_gnss)/rviz/gnss.rviz" />
+ </group>
+
+ <!--<arg name="bag" default="mini8_2020-09-28-11-28-08"/>-->
+ <!--<arg name="bag" default="rpa_sensors_M600b_2021-09-16-12-25-14"/>-->
+ <!--<arg name="bag" default="rpa_sensors_M600b_2021-09-16-14-41-46"/>-->
+ <arg name="bag" default="rpa_sensors_M600b_2021-09-17-11-00-51"/>
+ <!--<arg name="bag" default="rpa_sensors_M600b_2021-09-17-11-31-55"/>-->
+
+ <!--ROSBAG PLAY-->
+ <node pkg="rosbag"
+ type="play"
+ name="player"
+ required="true"
+ args="-r $(arg speed)
+ -s $(arg sec)
+ --clock
+ $(find wolf_demo_gnss)/bag/$(arg bag).bag"/>
+
+</launch>
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..16708654fc231f00b930765e6338312d96bbd591
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,62 @@
+<?xml version="1.0"?>
+<package format="2">
+ <name>wolf_demo_gnss_imu</name>
+ <version>0.0.0</version>
+ <description>The wolf_demo_gnss_imu package</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="jvallve@iri.upc.edu">joanvallve</maintainer>
+
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>TODO</license>
+
+
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/wolf_demo_gnss2</url> -->
+
+
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+ <!-- The *depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+ <!-- <depend>roscpp</depend> -->
+ <!-- Note that this is equivalent to the following: -->
+ <!-- <build_depend>roscpp</build_depend> -->
+ <!-- <exec_depend>roscpp</exec_depend> -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <build_depend>wolf_ros_gnss</build_depend>
+ <build_depend>wolf_ros_imu</build_depend>
+ <build_depend>wolf_ros_node</build_depend>
+ <!-- Use build_export_depend for packages you need in order to build against this package: -->
+ <!-- <build_export_depend>message_generation</build_export_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use exec_depend for packages you need at runtime: -->
+ <!-- <exec_depend>message_runtime</exec_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <!-- Use doc_depend for packages you need only for building documentation: -->
+ <!-- <doc_depend>doxygen</doc_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- Other tools can request additional information be placed here -->
+
+ </export>
+</package>
diff --git a/rviz/gnss.rviz b/rviz/gnss.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..cc8cff0a2e5b968274670005470652f99788d827
--- /dev/null
+++ b/rviz/gnss.rviz
@@ -0,0 +1,399 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 108
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /TF1/Frames1
+ - /Trajectory1
+ - /Trajectory1/Namespaces1
+ - /Factors1
+ - /Factors1/Namespaces1
+ Splitter Ratio: 0.804034591
+ Tree Height: 715
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.588679016
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: ""
+Toolbars:
+ toolButtonStyle: 2
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.200000003
+ Cell Size: 1
+ Class: rviz/Grid
+ Color: 111; 111; 111
+ Enabled: true
+ Line Style:
+ Line Width: 0.0299999993
+ Value: Lines
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 1000
+ Reference Frame: <Fixed Frame>
+ Value: true
+ - Class: rviz/TF
+ Enabled: true
+ Frame Timeout: 15
+ Frames:
+ All Enabled: false
+ ECEF:
+ Value: true
+ ENU:
+ Value: true
+ base:
+ Value: true
+ map:
+ Value: true
+ odom:
+ Value: false
+ Marker Scale: 5
+ Name: TF
+ Show Arrows: false
+ Show Axes: true
+ Show Names: true
+ Tree:
+ ECEF:
+ ENU:
+ {}
+ map:
+ odom:
+ base:
+ {}
+ Update Interval: 0
+ Value: true
+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /wolf_ros_node/graph_trajectory
+ Name: Trajectory
+ Namespaces:
+ frames: true
+ frames_text: false
+ Queue Size: 1
+ Value: true
+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /wolf_ros_node/graph_factors
+ Name: Factors
+ Namespaces:
+ factors_processor IMU: true
+ factors_processor gnss: true
+ factors_text_processor IMU: false
+ factors_text_processor gnss: false
+ factors_text_unnamed_processor: false
+ factors_unnamed_processor: true
+ Queue Size: 1
+ Value: true
+ - Alpha: 1
+ Arrow Length: 1
+ Axes Length: 0.300000012
+ Axes Radius: 0.00999999978
+ Class: rviz/PoseArray
+ Color: 255; 25; 0
+ Enabled: false
+ Head Length: 0.400000006
+ Head Radius: 0.25
+ Name: Current Pose
+ Shaft Length: 1
+ Shaft Radius: 0.100000001
+ Shape: Arrow (3D)
+ Topic: /wolf_ros_node/current_pose_pose_array
+ Unreliable: false
+ Value: false
+ - Class: rviz/Marker
+ Enabled: true
+ Marker Topic: /wolf_ros_node/current_pose_marker
+ Name: Current Pose
+ Namespaces:
+ trajectory: true
+ Queue Size: 100
+ Value: true
+ - Alpha: 1
+ Arrow Length: 0.5
+ Axes Length: 0.300000012
+ Axes Radius: 0.00999999978
+ Class: rviz/PoseArray
+ Color: 0; 85; 255
+ Enabled: false
+ Head Length: 0.0700000003
+ Head Radius: 0.0299999993
+ Name: Fix UBlox
+ Shaft Length: 0.230000004
+ Shaft Radius: 0.00999999978
+ Shape: Arrow (Flat)
+ Topic: /ublox_gps/fix_ENU_pose_array
+ Unreliable: false
+ Value: false
+ - Class: rviz/Marker
+ Enabled: false
+ Marker Topic: /ublox_gps/fix_ENU_marker
+ Name: Fix UBlox
+ Namespaces:
+ {}
+ Queue Size: 1
+ Value: false
+ - Alpha: 1
+ Arrow Length: 0.5
+ Axes Length: 0.300000012
+ Axes Radius: 0.00999999978
+ Class: rviz/PoseArray
+ Color: 0; 255; 0
+ Enabled: false
+ Head Length: 0.0700000003
+ Head Radius: 0.0299999993
+ Name: Fix BestPos
+ Shaft Length: 0.230000004
+ Shaft Radius: 0.00999999978
+ Shape: Arrow (Flat)
+ Topic: /novatel/oem7/bestpos_ENU_pose_array
+ Unreliable: false
+ Value: false
+ - Class: rviz/Marker
+ Enabled: false
+ Marker Topic: /novatel/oem7/bestpos_ENU_marker
+ Name: Fix BestPose
+ Namespaces:
+ {}
+ Queue Size: 100
+ Value: false
+ - Class: rviz/Group
+ Displays:
+ - Class: rviz/Marker
+ Enabled: false
+ Marker Topic: /wolf_ros_node/RTKLIB_fix000_marker
+ Name: eph BRDC - corr BRDC
+ Namespaces:
+ {}
+ Queue Size: 1
+ Value: false
+ - Class: rviz/Marker
+ Enabled: false
+ Marker Topic: /wolf_ros_node/RTKLIB_fix001_marker
+ Name: eph BRDC - corr SBAS
+ Namespaces:
+ {}
+ Queue Size: 1
+ Value: false
+ - Class: rviz/Marker
+ Enabled: false
+ Marker Topic: /wolf_ros_node/RTKLIB_fix002_marker
+ Name: eph BRDC - corr IONOFREE
+ Namespaces:
+ {}
+ Queue Size: 1
+ Value: false
+ - Class: rviz/Marker
+ Enabled: false
+ Marker Topic: /wolf_ros_node/RTKLIB_fix010_marker
+ Name: eph SBAS - corr BRDC
+ Namespaces:
+ {}
+ Queue Size: 1
+ Value: false
+ - Class: rviz/Marker
+ Enabled: true
+ Marker Topic: /wolf_ros_node/RTKLIB_fix020_marker
+ Name: eph SBAS2 - corr BRDC
+ Namespaces:
+ {}
+ Queue Size: 1
+ Value: true
+ - Class: rviz/Marker
+ Enabled: false
+ Marker Topic: /wolf_ros_node/RTKLIB_fix030_marker
+ Name: eph SBAS3 - corr BRDC
+ Namespaces:
+ {}
+ Queue Size: 1
+ Value: false
+ - Class: rviz/Marker
+ Enabled: false
+ Marker Topic: /wolf_ros_node/RTKLIB_fix040_marker
+ Name: eph SBAS4 - corr BRDC
+ Namespaces:
+ {}
+ Queue Size: 1
+ Value: false
+ - Class: rviz/Marker
+ Enabled: false
+ Marker Topic: /wolf_ros_node/RTKLIB_fix011_marker
+ Name: eph SBAS - corr SBAS
+ Namespaces:
+ {}
+ Queue Size: 1
+ Value: false
+ - Class: rviz/Marker
+ Enabled: true
+ Marker Topic: /wolf_ros_node/RTKLIB_fix021_marker
+ Name: eph SBAS2 - corr SBAS
+ Namespaces:
+ {}
+ Queue Size: 1
+ Value: true
+ - Class: rviz/Marker
+ Enabled: false
+ Marker Topic: /wolf_ros_node/RTKLIB_fix031_marker
+ Name: eph SBAS3 - corr SBAS
+ Namespaces:
+ {}
+ Queue Size: 1
+ Value: false
+ - Class: rviz/Marker
+ Enabled: false
+ Marker Topic: /wolf_ros_node/RTKLIB_fix041_marker
+ Name: eph SBAS4 - corr SBAS
+ Namespaces:
+ {}
+ Queue Size: 1
+ Value: false
+ - Class: rviz/Marker
+ Enabled: false
+ Marker Topic: /wolf_ros_node/RTKLIB_fix012_marker
+ Name: eph BRDC - corr IONOFREE
+ Namespaces:
+ {}
+ Queue Size: 1
+ Value: false
+ - Class: rviz/Marker
+ Enabled: false
+ Marker Topic: /wolf_ros_node/RTKLIB_fix100_marker
+ Name: RAIM eph BRDC - corr BRDC
+ Namespaces:
+ {}
+ Queue Size: 1
+ Value: false
+ - Class: rviz/Marker
+ Enabled: false
+ Marker Topic: /wolf_ros_node/RTKLIB_fix101_marker
+ Name: RAIM eph BRDC - corr SBAS
+ Namespaces:
+ {}
+ Queue Size: 1
+ Value: false
+ - Class: rviz/Marker
+ Enabled: false
+ Marker Topic: /wolf_ros_node/RTKLIB_fix102_marker
+ Name: RAIM eph BRDC - corr IONOFREE
+ Namespaces:
+ {}
+ Queue Size: 1
+ Value: false
+ - Class: rviz/Marker
+ Enabled: false
+ Marker Topic: /wolf_ros_node/RTKLIB_fix110_marker
+ Name: RAIM eph SBAS - corr BRDC
+ Namespaces:
+ {}
+ Queue Size: 1
+ Value: false
+ - Class: rviz/Marker
+ Enabled: false
+ Marker Topic: /wolf_ros_node/RTKLIB_fix111_marker
+ Name: RAIM eph SBAS - corr SBAS
+ Namespaces:
+ {}
+ Queue Size: 1
+ Value: false
+ - Class: rviz/Marker
+ Enabled: true
+ Marker Topic: /wolf_ros_node/RTKLIB_fix121_marker
+ Name: RAIM eph SBAS2 - corr SBAS
+ Namespaces:
+ {}
+ Queue Size: 1
+ Value: true
+ - Class: rviz/Marker
+ Enabled: false
+ Marker Topic: /wolf_ros_node/RTKLIB_fix112_marker
+ Name: RAIM eph BRDC - corr IONOFREE
+ Namespaces:
+ {}
+ Queue Size: 1
+ Value: false
+ Enabled: false
+ Name: RTKLIB
+ Enabled: true
+ Global Options:
+ Background Color: 49; 41; 50
+ Default Light: true
+ Fixed Frame: map
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz/Interact
+ Hide Inactive Objects: true
+ - Class: rviz/MoveCamera
+ - Class: rviz/Select
+ - Class: rviz/FocusCamera
+ - Class: rviz/Measure
+ - Class: rviz/SetInitialPose
+ Topic: /initialpose
+ - Class: rviz/SetGoal
+ Topic: /move_base_simple/goal
+ - Class: rviz/PublishPoint
+ Single click: true
+ Topic: /clicked_point
+ Value: true
+ Views:
+ Current:
+ Class: rviz/ThirdPersonFollower
+ Distance: 26.5529099
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.0599999987
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 3.37263703
+ Y: 3.45467091
+ Z: 3.1463187e-05
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.0500000007
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.00999999978
+ Pitch: 0.309797317
+ Target Frame: ENU
+ Value: ThirdPersonFollower (rviz)
+ Yaw: 0.71045965
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 1026
+ Hide Left Dock: false
+ Hide Right Dock: true
+ QMainWindow State: 000000ff00000000fd00000004000000000000016a00000378fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000378000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000378fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000378000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000064f0000003efc0100000002fb0000000800540069006d006501000000000000064f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004df0000037800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: true
+ Width: 1615
+ X: 65
+ Y: 24
diff --git a/yaml/params_gnss_raw.yaml b/yaml/params_gnss_raw.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2b9dd47b7062fa05ab896dd7f69ef51704d16936
--- /dev/null
+++ b/yaml/params_gnss_raw.yaml
@@ -0,0 +1,171 @@
+config:
+ profiling:
+ enabled: false
+ file_name: "~/wolf_gnss_raw_profiling.txt"
+
+ problem:
+ frame_structure: "PO"
+ dimension: 3
+ tree_manager:
+ type: "TreeManagerSlidingWindowDualRate"
+ n_frames: 10
+ n_frames_recent: 5
+ rate_old_frames: 10
+ fix_first_frame: false
+ viral_remove_empty_parent: true
+ prior:
+ mode: "factor"
+ time_tolerance: 0.1
+ $state:
+ P: [0,0,0]
+ O: [0,0,0,1]
+ $sigma:
+ P: [0.31, 0.31, 0.31]
+ O: [0.31, 0.31, 0.31]
+
+ solver:
+ max_num_iterations: 20
+ verbose: 0
+ period: 0.0
+ n_threads: 2
+ update_immediately: true
+ min_num_iterations: 5 #if update immediately
+ compute_cov: false
+ cov_enum: 3
+ cov_period: 1
+
+ sensors:
+ -
+ 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: "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
+ keyframe_vote:
+ voting_active: true
+ voting_aux_active: false
+ max_time_span: 0.01
+ 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: true
+ GAL: true
+ QZS: false
+ CMP: false
+ IRN: false
+ LEO: false
+ tdcp:
+ enabled: true
+ corr_iono: false
+ corr_tropo: false
+ loss_function: false
+ time_window: 10 # s
+ sigma_atm: 0.3 # m/sqrt(s)
+ sigma_carrier: 0.1 # m
+ multi_freq: false
+ remove_outliers: false
+ batch: false
+
+ ROS subscriber:
+ -
+ #type: "SubscriberGnssNovatel"
+ #topic: "/novatel/oem7/oem7raw"
+ type: "SubscriberGnssUblox"
+ topic: "/ublox_gps/raw_data_stream"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ 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: true
+ GAL: true
+ QZS: false
+ CMP: false
+ IRN: false
+ LEO: false
+ -
+ type: "SubscriberGnssFixPublisherEcef"
+ topic: "/ublox_gps/fix"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ marker_color: [0,0,1,1]
+ period: 0.1
+ -
+ type: "SubscriberGnssFixNovatelPublisherEcef"
+ topic: "/novatel/oem7/bestpos"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ marker_color: [0,1,0,1]
+ period: 0.1
+
+ ROS publisher:
+ -
+ type: "PublisherPose"
+ topic: "current_pose"
+ package: "wolf_ros_node"
+ marker_color: [1,0,0,1]
+ period: 0.01
+ extrinsics: true
+ sensor: "gnss"
+ frame_id: "ENU"
+ -
+ type: "PublisherGnssTf"
+ topic: "whatever"
+ package: "wolf_ros_gnss"
+ period: 0.01
+ sensor_gnss_name: "gnss"
+ -
+ type: "PublisherGraph"
+ topic: "graph"
+ package: "wolf_ros_node"
+ period: 0.1
+
diff --git a/yaml/params_imu_gnss_raw.yaml b/yaml/params_imu_gnss_raw.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e8b301c6079e76bb84842a97b06af811dc46d1b5
--- /dev/null
+++ b/yaml/params_imu_gnss_raw.yaml
@@ -0,0 +1,260 @@
+config:
+ debug:
+ profiling: false
+ profiling_file: "~/wolf_gauss_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:
+ type: "TreeManagerSlidingWindow"#"TreeManagerSlidingWindowDualRate"
+ n_frames: 10
+ n_frames_recent: 10
+ rate_old_frames: 10
+ fix_first_frame: false
+ viral_remove_empty_parent: true
+ n_fix_first_frames: 0
+ prior:
+ 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: [0.31, 0.31, 0.31]
+ V: [0.31, 0.31, 0.31]
+
+ solver:
+ minimizer: LEVENBERG_MARQUARDT
+ max_num_iterations: 20
+ verbose: 0
+ period: 0.0
+ n_threads: 2
+ update_immediately: false
+ min_num_iterations: 5 #if update immediately
+ compute_cov: false
+ cov_enum: 3
+ cov_period: 1
+ function_tolerance: 1e-8
+ gradient_tolerance: 1e-9
+ use_nonmonotonic_steps: false
+
+ sensors:
+ ## MICROSTRAIN
+ -
+ type: "SensorImu"
+ name: "IMU_odometer"
+ plugin: "imu"
+ extrinsic:
+ pose: [0,0,0,0,0,0,1]
+ a_noise: 0.053 #0.098 # standard deviation of Acceleration noise (same for all the axis) in m/s2 (1/1000 max value)
+ w_noise: 0.0011 #0.0012 # 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)
+
+ ## BNO055
+# -
+# 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]
+ #pose: [-0.135, -0.145, 0.230] # microstrain M600
+ #pose: [0.1, 1.36, 0.260] # MICROSTRAIN
+ #pose: [1.36, -0.04, 0.280] # BNO055
+ 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: 0.5
+ 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: false
+ loss_function: false
+ time_window: 10 # 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: "SubscriberGnssNovatel"
+ #topic: "/novatel/oem7/oem7raw"
+ 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: true
+ GAL: true
+ QZS: false
+ CMP: false
+ IRN: false
+ LEO: false
+ -
+ type: "SubscriberImuEnableable"
+ topic: "/bno055_imu/imu" #/imu/data
+ sensor_name: "IMU_odometer"
+ package: "wolf_ros_imu"
+ topic_enable: "gnss_available"
+ #imu_x_axis: 1
+ #imu_y_axis: -2
+ #imu_z_axis: -3
+ 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: 10
+ dt: 0.01
+
+ #-
+ #type: "SubscriberGnssFixNovatelPublisherEcef"
+ #topic: "/novatel/oem7/bestpos"
+ #sensor_name: "gnss"
+ #package: "wolf_ros_gnss"
+ #marker_color: [0,1,0,1]
+ #period: 0.1
+
+ ROS publisher:
+ -
+ type: "PublisherPose"
+ topic: "current_pose"
+ package: "wolf_ros_node"
+ marker_color: [1,0,0,1]
+ period: 0.1
+ extrinsics: true
+ sensor: "gnss"
+ 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