diff --git a/yaml/imu2d_test0.yaml b/yaml/imu2d_test0.yaml
index 1470576d341555c3e1c0c3de1e570c065df5dd02..c34ae67c4908f2497ab4c883a0458c95b8b4678b 100644
--- a/yaml/imu2d_test0.yaml
+++ b/yaml/imu2d_test0.yaml
@@ -1,9 +1,9 @@
config:
debug:
profiling: true
- profiling_file: "~/wolf_demo_profiling_imu2d_test1.txt"
+ profiling_file: "~/wolf_demo_profiling_imu2d_test0.txt"
print_problem: true
- print_period: 5
+ print_period: 2
print_depth: 4
print_constr_by: false
print_metric: true
@@ -20,86 +20,36 @@ config:
O: [0]
V: [0,0]
time_tolerance: 0.1
+ node_rate: 100
map:
type: "MapBase"
plugin: "core"
solver:
- max_num_iterations: 10
- verbose: 0
- period: 0
- update_immediately: false
- n_threads: 2
- compute_cov: false
-
+ follow: "solver.yaml"
+
sensors:
- #-
- # type: "SensorOdom2d"
- # name: "odom2d"
- # plugin: "core"
- # follow: "test_odom2d_params.yaml"
- #-
- # type: "SensorLaser2d"
- # name: "scanner_front_left"
- # plugin: "laser"
- # follow: "test_laser_params.yaml"
-
- type: "SensorImu2d"
- name: "bno"
- plugin: "imu"
- follow: "test_imu_params.yaml"
- #-
- # type: "SensorImu2d"
- # name: "microstrain"
- # plugin: "imu"
- # follow: "test_imu_params.yaml"
+ type: "SensorLaser2d"
+ name: "scanner_front_left"
+ plugin: "laser"
+ follow: "test_laser_params.yaml"
processors:
- #-
- # type: "ProcessorOdom2d"
- # name: "processorodom2d"
- # sensor_name: "odom2d"
- # plugin: "core"
- # follow: "test_odom2d_processor.yaml"
- #-
- # type: "ProcessorOdomIcp"
- # name: "processorodomicp"
- # sensor_name: "scanner_front_left"
- # plugin: "laser"
- # follow: "test_laser_processor.yaml"
-
- type: "ProcessorImu2d"
- name: "processorimu2dbno"
- sensor_name: "bno"
- plugin: "imu"
- follow: "test_imu_processor.yaml"
- #-
- # type: "ProcessorImu2d"
- # name: "processorimu2dmicro"
- # sensor_name: "microstrain"
- # plugin: "imu"
- # follow: "test_imu_processor.yaml"
+ type: "ProcessorOdomIcp"
+ name: "processorodomicp"
+ sensor_name: "scanner_front_left"
+ plugin: "laser"
+ follow: "test_laser_processor.yaml"
ROS subscriber:
- #-
- # package: "wolf_ros_node"
- # type: "SubscriberOdom2d"
- # topic: "/ana/odom"
- # sensor_name: "odom2d"
- #-
- # package: "wolf_ros_laser"
- # type: "SubscriberLaser2d"
- # topic: "/ana/sensors/scan"
- # sensor_name: "scanner_front_left"
- # load_params_from_msg: true
-
- package: "wolf_ros_imu"
- type: "SubscriberImuEnableable"
- topic: "/ana/sensors/bno055_imu/imu"
- sensor_name: "bno"
- #topic: "/ana/imu/data"
- #sensor_name: "microstrain"
- follow: "test_imu_subscriber.yaml"
+ package: "wolf_ros_laser"
+ type: "SubscriberLaser2d"
+ topic: "/helena/sensors/scan"
+ sensor_name: "scanner_front_left"
+ load_params_from_msg: true
ROS publisher:
-
@@ -114,19 +64,18 @@ config:
topic: "graph"
period: 1
viz_overlapped_factors: true
- #-
- # package: "wolf_ros_laser"
- # type: "PublisherLaserMap"
- # topic: "map"
- # period: 1
- # map_frame_id: "map"
- # update_dist_th: 0.05
- # update_angle_th: 0.05
- # max_n_cells: 1000000
- # grid_size: 0.1
- # p_free: 0.3
- # p_obst: 0.8
- # p_free_th: 0.2
- # p_obst_th: 0.9
- # discard_max_range: true
-
+ -
+ package: "wolf_ros_laser"
+ type: "PublisherLaserMap"
+ topic: "map"
+ period: 1
+ map_frame_id: "map"
+ update_dist_th: 0.05
+ update_angle_th: 0.05
+ max_n_cells: 1000000
+ grid_size: 0.1
+ p_free: 0.3
+ p_obst: 0.8
+ p_free_th: 0.2
+ p_obst_th: 0.9
+ discard_max_range: true
diff --git a/yaml/imu2d_test1.yaml b/yaml/imu2d_test1.yaml
index 549158408686f6e793fa8505e7fbffe4aa1da6d9..2422ded5b82ee42aedaef634cf62502b392fc1f1 100644
--- a/yaml/imu2d_test1.yaml
+++ b/yaml/imu2d_test1.yaml
@@ -3,7 +3,7 @@ config:
profiling: true
profiling_file: "~/wolf_demo_profiling_imu2d_test1.txt"
print_problem: true
- print_period: 5
+ print_period: 2
print_depth: 4
print_constr_by: false
print_metric: true
diff --git a/yaml/imu2d_test2.yaml b/yaml/imu2d_test2.yaml
index 9581a6eb62b4466ec32c53857ecbef8850564acb..d13e4c2f6f81cdb9ee78cf4351edf6eb81f7df10 100644
--- a/yaml/imu2d_test2.yaml
+++ b/yaml/imu2d_test2.yaml
@@ -4,6 +4,10 @@ config:
profiling_file: "~/wolf_demo_profiling_imu2d_test2.txt"
print_problem: false
print_period: 5
+ print_depth: 4
+ print_constr_by: false
+ print_metric: true
+ print_state_blocks: true
problem:
tree_manager:
type: "none"
@@ -15,15 +19,13 @@ config:
P: [0,0]
O: [0]
time_tolerance: 0.1
-
+ node_rate: 100
+ map:
+ type: "MapBase"
+ plugin: "core"
solver:
- max_num_iterations: 100
- verbose: 0
- period: 0
- update_immediately: false
- n_threads: 2
- compute_cov: false
-
+ follow: "solver.yaml"
+
sensors:
-
type: "SensorOdom2d"
@@ -54,12 +56,12 @@ config:
-
package: "wolf_ros_node"
type: "SubscriberOdom2d"
- topic: "/ana/odom"
+ topic: "/helena/odom"
sensor_name: "odom2d"
-
package: "wolf_ros_laser"
type: "SubscriberLaser2d"
- topic: "/ana/sensors/scan"
+ topic: "/helena/sensors/scan"
sensor_name: "scanner_front_left"
load_params_from_msg: true
diff --git a/yaml/test_imu_processor.yaml b/yaml/test_imu_processor.yaml
index dd3cdd5b2635b12639c4c5a3fe62b67f57ea319a..139d89138681b11cd5fff4d2fb600b563cc852a0 100644
--- a/yaml/test_imu_processor.yaml
+++ b/yaml/test_imu_processor.yaml
@@ -2,7 +2,7 @@
time_tolerance: 0.005 #Half the sample time, microstrain
unmeasured_perturbation_std: 0.1
keyframe_vote:
- voting_active: true
+ voting_active: false
max_time_span: 1
max_buff_length: 1000000
dist_traveled: 10
diff --git a/yaml/test_odom2d_processor.yaml b/yaml/test_odom2d_processor.yaml
index 2fc31b13f3a668053b7a252abca74011684a30cf..09fb47e09b265e5f9f02fecba9b441885e41fab5 100644
--- a/yaml/test_odom2d_processor.yaml
+++ b/yaml/test_odom2d_processor.yaml
@@ -6,7 +6,7 @@ keyframe_vote:
angle_turned: 3.14
cov_det: 999
unmeasured_perturbation_std: 0.01
-time_tolerance: 0.05 #Half the sample time
+time_tolerance: 0.025 #Half the sample time
state_getter: true
state_priority: 2
apply_loss_function: false
diff --git a/yaml/tests.txt b/yaml/tests.txt
index de48fec6ceb846de6396a743a168ca70ef0278c5..5ea0e7cabd6e694007e9a1c97ca7c58c423c95e2 100644
--- a/yaml/tests.txt
+++ b/yaml/tests.txt
@@ -1,3 +1,5 @@
+test0:
+ Només laser
test1:
Tot: laser, odom2d, imu
test2: