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Commit 31647a7e authored by Idril-Tadzio Geer Cousté's avatar Idril-Tadzio Geer Cousté
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updated test1 yaml and params that break functionality

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launch/imu2d_demo.launch
+ 1
− 1
View file @ 31647a7e
...@@ -6,7 +6,7 @@ ...@@ -6,7 +6,7 @@
<arg name="profiling" default="false" /> <arg name="profiling" default="false" />
<arg name="gdb" default="false" /> <arg name="gdb" default="false" />
<arg name="test" default="1" /> <arg name="test" default="1" />
<arg name="bag" default="test_filtered_no_map" /> <arg name="bag" default="test_no_map" />
<arg name="launch_pref" default="" unless="$(eval profiling or gdb)"/> <arg name="launch_pref" default="" unless="$(eval profiling or gdb)"/>
<arg name="launch_pref" value="valgrind --tool=callgrind --callgrind-out-file='callgrind.wolf.%p'" if="$(arg profiling)" /> <arg name="launch_pref" value="valgrind --tool=callgrind --callgrind-out-file='callgrind.wolf.%p'" if="$(arg profiling)" />
<arg name="launch_pref" value="gdb -ex run --args" if="$(arg gdb)" /> <arg name="launch_pref" value="gdb -ex run --args" if="$(arg gdb)" />
......
rviz/imu2d_demo.rviz
+ 65
− 167
View file @ 31647a7e
...@@ -18,8 +18,8 @@ Panels: ...@@ -18,8 +18,8 @@ Panels:
- /Axes1 - /Axes1
- /PointCloud21 - /PointCloud21
- /Imu1 - /Imu1
Splitter Ratio: 0.603864729 Splitter Ratio: 0.6038647294044495
Tree Height: 775 Tree Height: 728
- Class: rviz/Selection - Class: rviz/Selection
Name: Selection Name: Selection
- Class: rviz/Tool Properties - Class: rviz/Tool Properties
...@@ -28,7 +28,7 @@ Panels: ...@@ -28,7 +28,7 @@ Panels:
- /2D Nav Goal1 - /2D Nav Goal1
- /Publish Point1 - /Publish Point1
Name: Tool Properties Name: Tool Properties
Splitter Ratio: 0.588679016 Splitter Ratio: 0.5886790156364441
- Class: rviz/Views - Class: rviz/Views
Expanded: Expanded:
- /Current View1 - /Current View1
...@@ -38,7 +38,9 @@ Panels: ...@@ -38,7 +38,9 @@ Panels:
Experimental: false Experimental: false
Name: Time Name: Time
SyncMode: 0 SyncMode: 0
SyncSource: "" SyncSource: PointCloud2
Preferences:
PromptSaveOnExit: true
Toolbars: Toolbars:
toolButtonStyle: 2 toolButtonStyle: 2
Visualization Manager: Visualization Manager:
...@@ -50,7 +52,7 @@ Visualization Manager: ...@@ -50,7 +52,7 @@ Visualization Manager:
Color: 160; 160; 164 Color: 160; 160; 164
Enabled: true Enabled: true
Line Style: Line Style:
Line Width: 0.0299999993 Line Width: 0.029999999329447746
Value: Lines Value: Lines
Name: Grid Name: Grid
Normal Cell Count: 0 Normal Cell Count: 0
...@@ -67,102 +69,28 @@ Visualization Manager: ...@@ -67,102 +69,28 @@ Visualization Manager:
Frame Timeout: 15 Frame Timeout: 15
Frames: Frames:
All Enabled: false All Enabled: false
ana/ana_box:
Value: false
ana/ana_realsense_support:
Value: false
ana/base_footprint: ana/base_footprint:
Value: true Value: true
ana/base_footprint_robot: ana/base_footprint_robot:
Value: false Value: false
ana/base_link: ana/base_link:
Value: false Value: false
ana/camera_bottom_screw_frame:
Value: false
ana/camera_color_frame:
Value: false
ana/camera_color_optical_frame:
Value: false
ana/camera_depth_frame:
Value: false
ana/camera_depth_optical_frame:
Value: false
ana/camera_infra1_frame:
Value: false
ana/camera_infra1_optical_frame:
Value: false
ana/camera_infra2_frame:
Value: false
ana/camera_infra2_optical_frame:
Value: false
ana/camera_link:
Value: false
ana/camera_pan_tilt_bottom_screw_frame:
Value: false
ana/camera_pan_tilt_color_frame:
Value: false
ana/camera_pan_tilt_color_optical_frame:
Value: false
ana/camera_pan_tilt_depth_frame:
Value: false
ana/camera_pan_tilt_depth_optical_frame:
Value: false
ana/camera_pan_tilt_infra1_frame:
Value: false
ana/camera_pan_tilt_infra1_optical_frame:
Value: false
ana/camera_pan_tilt_infra2_frame:
Value: false
ana/camera_pan_tilt_infra2_optical_frame:
Value: false
ana/camera_pan_tilt_link:
Value: false
ana/front_left_axle: ana/front_left_axle:
Value: false Value: false
ana/front_left_hub:
Value: false
ana/front_left_wheel:
Value: false
ana/front_right_axle: ana/front_right_axle:
Value: false Value: false
ana/front_right_hub:
Value: false
ana/front_right_wheel:
Value: false
ana/front_sonar:
Value: false
ana/imu_bno055: ana/imu_bno055:
Value: false Value: false
ana/imu_bno055_base:
Value: false
ana/imu_microstrain: ana/imu_microstrain:
Value: false Value: false
ana/odom: ana/odom:
Value: true Value: true
ana/pan_frame:
Value: false
ana/realsense_support_pan_tilt:
Value: false
ana/rear_left_axle: ana/rear_left_axle:
Value: false Value: false
ana/rear_left_hub:
Value: false
ana/rear_left_wheel:
Value: false
ana/rear_right_axle: ana/rear_right_axle:
Value: false Value: false
ana/rear_right_hub:
Value: false
ana/rear_right_wheel:
Value: false
ana/rear_sonar:
Value: false
ana/top_plate:
Value: false
ana/velodyne: ana/velodyne:
Value: false Value: false
ana/velodyne_base:
Value: false
map: map:
Value: false Value: false
Marker Scale: 1 Marker Scale: 1
...@@ -176,59 +104,24 @@ Visualization Manager: ...@@ -176,59 +104,24 @@ Visualization Manager:
ana/base_footprint: ana/base_footprint:
ana/base_link: ana/base_link:
ana/front_left_axle: ana/front_left_axle:
ana/front_left_hub: {}
ana/front_left_wheel:
{}
ana/front_right_axle: ana/front_right_axle:
ana/front_right_hub:
ana/front_right_wheel:
{}
ana/front_sonar:
{} {}
ana/imu_bno055: ana/imu_bno055:
{} {}
ana/imu_microstrain: ana/imu_microstrain:
{} {}
ana/rear_left_axle: ana/rear_left_axle:
ana/rear_left_hub: {}
ana/rear_left_wheel:
{}
ana/rear_right_axle: ana/rear_right_axle:
ana/rear_right_hub:
ana/rear_right_wheel:
{}
ana/rear_sonar:
{} {}
ana/top_plate:
ana/ana_box:
ana/pan_frame:
{}
ana/ana_realsense_support:
ana/camera_bottom_screw_frame:
ana/camera_link:
ana/camera_color_frame:
ana/camera_color_optical_frame:
{}
ana/camera_depth_frame:
ana/camera_depth_optical_frame:
{}
ana/camera_infra1_frame:
ana/camera_infra1_optical_frame:
{}
ana/camera_infra2_frame:
ana/camera_infra2_optical_frame:
{}
ana/velodyne_base:
{}
ana/velodyne: ana/velodyne:
{} {}
ana/imu_bno055_base:
{}
ana/base_footprint_robot: ana/base_footprint_robot:
{} {}
Update Interval: 0 Update Interval: 0
Value: true Value: true
- Angle Tolerance: 0.100000001 - Angle Tolerance: 0.10000000149011612
Class: rviz/Odometry Class: rviz/Odometry
Covariance: Covariance:
Orientation: Orientation:
...@@ -240,7 +133,7 @@ Visualization Manager: ...@@ -240,7 +133,7 @@ Visualization Manager:
Scale: 1 Scale: 1
Value: true Value: true
Position: Position:
Alpha: 0.300000012 Alpha: 0.30000001192092896
Color: 204; 51; 204 Color: 204; 51; 204
Scale: 1 Scale: 1
Value: true Value: true
...@@ -248,16 +141,16 @@ Visualization Manager: ...@@ -248,16 +141,16 @@ Visualization Manager:
Enabled: false Enabled: false
Keep: 300 Keep: 300
Name: Odometry Name: Odometry
Position Tolerance: 0.100000001 Position Tolerance: 0.10000000149011612
Shape: Shape:
Alpha: 1 Alpha: 1
Axes Length: 1 Axes Length: 1
Axes Radius: 0.100000001 Axes Radius: 0.10000000149011612
Color: 255; 25; 0 Color: 255; 25; 0
Head Length: 0.100000001 Head Length: 0.10000000149011612
Head Radius: 0.100000001 Head Radius: 0.10000000149011612
Shaft Length: 0.300000012 Shaft Length: 0.30000001192092896
Shaft Radius: 0.0500000007 Shaft Radius: 0.05000000074505806
Value: Arrow Value: Arrow
Topic: /ana/odom Topic: /ana/odom
Unreliable: false Unreliable: false
...@@ -277,15 +170,13 @@ Visualization Manager: ...@@ -277,15 +170,13 @@ Visualization Manager:
Enabled: false Enabled: false
Invert Rainbow: false Invert Rainbow: false
Max Color: 255; 255; 255 Max Color: 255; 255; 255
Max Intensity: 47
Min Color: 0; 0; 0 Min Color: 0; 0; 0
Min Intensity: 47
Name: LaserScan Name: LaserScan
Position Transformer: XYZ Position Transformer: XYZ
Queue Size: 1 Queue Size: 1
Selectable: true Selectable: true
Size (Pixels): 3 Size (Pixels): 3
Size (m): 0.0599999987 Size (m): 0.05999999865889549
Style: Flat Squares Style: Flat Squares
Topic: /ana/sensors/scan Topic: /ana/sensors/scan
Unreliable: false Unreliable: false
...@@ -305,23 +196,29 @@ Visualization Manager: ...@@ -305,23 +196,29 @@ Visualization Manager:
Marker Topic: /wolf_ros_node/graph_factors Marker Topic: /wolf_ros_node/graph_factors
Name: Factors Name: Factors
Namespaces: Namespaces:
{} factors_processorimu2dbno: true
factors_processorodom2d: true
factors_processorodomicp: true
factors_text_processorimu2dbno: false
factors_text_processorodom2d: false
factors_text_processorodomicp: false
factors_text_unnamed_processor: false
factors_unnamed_processor: true
Queue Size: 100 Queue Size: 100
Value: true Value: true
- Class: rviz/MarkerArray - Class: rviz/MarkerArray
Enabled: true Enabled: false
Marker Topic: /wolf_ros_node/graph_trajectory Marker Topic: /wolf_ros_node/graph_trajectory
Name: Trajectory Name: Trajectory
Namespaces: Namespaces:
frames: true {}
frames_text: true
Queue Size: 100 Queue Size: 100
Value: true Value: false
- Class: rviz/Axes - Class: rviz/Axes
Enabled: true Enabled: true
Length: 1 Length: 1
Name: Axes Name: Axes
Radius: 0.100000001 Radius: 0.10000000149011612
Reference Frame: ana/base_link Reference Frame: ana/base_link
Value: true Value: true
- Alpha: 1 - Alpha: 1
...@@ -339,22 +236,20 @@ Visualization Manager: ...@@ -339,22 +236,20 @@ Visualization Manager:
Enabled: true Enabled: true
Invert Rainbow: false Invert Rainbow: false
Max Color: 255; 255; 255 Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 173; 14 Min Color: 0; 173; 14
Min Intensity: 0
Name: PointCloud2 Name: PointCloud2
Position Transformer: XYZ Position Transformer: XYZ
Queue Size: 1 Queue Size: 1
Selectable: false Selectable: false
Size (Pixels): 3 Size (Pixels): 3
Size (m): 0.0399999991 Size (m): 0.03999999910593033
Style: Squares Style: Squares
Topic: /wolf_ros_node/map_pointcloud Topic: /wolf_ros_node/map_pointcloud
Unreliable: false Unreliable: false
Use Fixed Frame: true Use Fixed Frame: true
Use rainbow: true Use rainbow: true
Value: true Value: true
- Alpha: 0.699999988 - Alpha: 0.699999988079071
Class: rviz/Map Class: rviz/Map
Color Scheme: map Color Scheme: map
Draw Behind: false Draw Behind: false
...@@ -388,7 +283,10 @@ Visualization Manager: ...@@ -388,7 +283,10 @@ Visualization Manager:
- Class: rviz/FocusCamera - Class: rviz/FocusCamera
- Class: rviz/Measure - Class: rviz/Measure
- Class: rviz/SetInitialPose - Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal - Class: rviz/SetGoal
Topic: /move_base_simple/goal Topic: /move_base_simple/goal
- Class: rviz/PublishPoint - Class: rviz/PublishPoint
...@@ -398,78 +296,78 @@ Visualization Manager: ...@@ -398,78 +296,78 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz/Orbit Class: rviz/Orbit
Distance: 8.34140396 Distance: 14.700403213500977
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Focal Point: Focal Point:
X: 2.42303967 X: 2.423039674758911
Y: -1.90124702 Y: -1.9012470245361328
Z: 1.00247037 Z: 1.0024703741073608
Focal Shape Fixed Size: true Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007 Focal Shape Size: 0.05000000074505806
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.00999999978 Near Clip Distance: 0.009999999776482582
Pitch: 0.594797194 Pitch: 0.5947971940040588
Target Frame: map Target Frame: map
Value: Orbit (rviz) Value: Orbit (rviz)
Yaw: 4.00817299 Yaw: 4.008172988891602
Saved: Saved:
- Angle: 0 - Angle: 0
Class: rviz/TopDownOrtho Class: rviz/TopDownOrtho
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Invert Z Axis: false Invert Z Axis: false
Name: TopDownOrtho Name: TopDownOrtho
Near Clip Distance: 0.00999999978 Near Clip Distance: 0.009999999776482582
Scale: 64.6596146 Scale: 64.65961456298828
Target Frame: map Target Frame: map
Value: TopDownOrtho (rviz) Value: TopDownOrtho (rviz)
X: 8.82501411 X: 8.825014114379883
Y: -0.175666362 Y: -0.17566636204719543
- Angle: 0 - Angle: 0
Class: rviz/TopDownOrtho Class: rviz/TopDownOrtho
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Invert Z Axis: false Invert Z Axis: false
Name: TopDownOrtho Name: TopDownOrtho
Near Clip Distance: 0.00999999978 Near Clip Distance: 0.009999999776482582
Scale: 50.072403 Scale: 50.07240295410156
Target Frame: map Target Frame: map
Value: TopDownOrtho (rviz) Value: TopDownOrtho (rviz)
X: 1.94783008 X: 1.947830080986023
Y: 3.96870375 Y: 3.9687037467956543
- Angle: -1.57000005 - Angle: -1.5700000524520874
Class: rviz/TopDownOrtho Class: rviz/TopDownOrtho
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Invert Z Axis: false Invert Z Axis: false
Name: TopDownOrtho Name: TopDownOrtho
Near Clip Distance: 0.00999999978 Near Clip Distance: 0.009999999776482582
Scale: 42.1874428 Scale: 42.187442779541016
Target Frame: map Target Frame: map
Value: TopDownOrtho (rviz) Value: TopDownOrtho (rviz)
X: 1.97467852 X: 1.9746785163879395
Y: 4.4872756 Y: 4.48727560043335
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 1056 Height: 1025
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: true Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000027f00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd00000004000000000000027f00000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004b80000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection: Selection:
collapsed: false collapsed: false
Time: Time:
...@@ -478,6 +376,6 @@ Window Geometry: ...@@ -478,6 +376,6 @@ Window Geometry:
collapsed: false collapsed: false
Views: Views:
collapsed: true collapsed: true
Width: 1855 Width: 1853
X: 65 X: 67
Y: 24 Y: 27
yaml/imu2d_test1.yaml
+ 6
− 0
View file @ 31647a7e
...@@ -20,6 +20,7 @@ config: ...@@ -20,6 +20,7 @@ config:
O: [0] O: [0]
V: [0,0] V: [0,0]
time_tolerance: 0.1 time_tolerance: 0.1
node_rate: 100
map: map:
type: "MapBase" type: "MapBase"
plugin: "core" plugin: "core"
...@@ -31,6 +32,11 @@ config: ...@@ -31,6 +32,11 @@ config:
update_immediately: false update_immediately: false
n_threads: 2 n_threads: 2
compute_cov: false compute_cov: false
function_tolerance: 1e-6
gradient_tolerance: 1e-6
minimizer: "LEVENBERG_MARQUARDT"
use_nonmonotonic_steps: False
max_consecutive_nonmonotonic_steps: 10
sensors: sensors:
- -
......
yaml/test_imu_params.yaml
+ 2
− 2
View file @ 31647a7e
...@@ -5,8 +5,8 @@ a_noise: 0.096 #best: 0.96 ...@@ -5,8 +5,8 @@ a_noise: 0.096 #best: 0.96
w_noise: 0.02 w_noise: 0.02
ab_initial_stdev: 5 # m/s2 - initial bias ab_initial_stdev: 5 # m/s2 - initial bias
wb_initial_stdev: 1 # rad/sec - initial bias wb_initial_stdev: 1 # rad/sec - initial bias
ab_rate_stdev: 0.0000001 # m/s2/sqrt(s) ab_rate_stdev: 0.0001 # m/s2/sqrt(s)
wb_rate_stdev: 0.0000001 # rad/s/sqrt(s) wb_rate_stdev: 0.0001 # rad/s/sqrt(s)
orthogonal_gravity: true orthogonal_gravity: true
#microstrain #microstrain
#extrinsic: #extrinsic:
......
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