diff --git a/launch/imu2d_demo.launch b/launch/imu2d_demo.launch
index ea29fa3954cbd96710f7ada8d324579bf73c4bc0..b141aaf5ebb2969e4fc881351aa063379f89306f 100644
--- a/launch/imu2d_demo.launch
+++ b/launch/imu2d_demo.launch
@@ -1,6 +1,5 @@
<!-- -->
<launch>
- <param name="use_sim_time" value="true" />
<arg name="record" default="true" />
<arg name="rviz" default="true" />
<arg name="speed" default="1" />
@@ -13,47 +12,71 @@
<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="$(arg gdb)" />
- <!-- using "clock" option to use the simulated time. Rosbag launch as the first node -->
+ <arg name="robot" default="ana" /> <!-- ana or helena -->
- <node pkg="rostopic" type="rostopic" name="" args='pub /helena/sensors/bno055_imu/imu/topic_enable std_msgs/Bool "data: True"'/>
-
+ <node pkg="rostopic" type="rostopic" name="" args='pub /imu_bno/enable std_msgs/Bool "data: True"'/>
+ <node pkg="rostopic" type="rostopic" name="" args='pub /imu_micro/enable std_msgs/Bool "data: True"'/>
+
+ <!-- RECORD -->
<group if="$(arg record)">
- <node pkg="rosbag" type="record" name="recorder" args='record -O $(find wolf_demo_imu2d)/bag/recordings/trajectory_recording$(arg suffix).bag "/wolf_ros_node/trajectory" "/wolf_ros_node/pose_pose_with_cov"'/>
+ <node pkg="rosbag"
+ type="record"
+ name="recorder"
+ args='record -O $(find wolf_demo_imu2d)/bag/recordings/trajectory_recording$(arg suffix).bag "/wolf_ros_node/trajectory" "/wolf_ros_node/pose_pose_with_cov"'/>
</group>
- <node pkg="tf"
- type="static_transform_publisher"
- name="static_tf"
- args="0 0 0 0 0 0 /ana/base_footprint /ana/base_link 100"/>
+ <!-- TF -->
+ <group>
+ <!-- <node pkg="tf"
+ type="static_transform_publisher"
+ name="static_tf"
+ args="0 0 0 0 0 0 /base_footprint /base_link 100"/>
- <node pkg="tf"
- type="static_transform_publisher"
- name="static_tf2"
- args="0 0 0 0 0 0 /ana/base_link /ana/imu_bno055 100"/>
+ <node pkg="tf"
+ type="static_transform_publisher"
+ name="static_tf2"
+ args="0 0 0 0 0 0 /base_link /imu_bno055 100"/>
- <node pkg="tf"
- type="static_transform_publisher"
- name="static_tf3"
- args="0 0 0 3.14159265 0 0 /ana/base_link /ana/velodyne 100"/>
+ <node pkg="tf"
+ type="static_transform_publisher"
+ name="static_tf3"
+ args="0 0 0 3.14159265 0 0 /base_link /velodyne 100"/> -->
- <node pkg="tf"
- type="static_transform_publisher"
- name="static_tf4"
- args="-0.11 0.01 0 0 0 0 /ana/base_link /ana/imu_microstrain 100"/>
+ <node pkg="tf"
+ type="static_transform_publisher"
+ name="static_tf4"
+ args="-0.11 0.01 0 0 0 0 /$(arg robot)/base_link /imu 100"/>
+ <node pkg="tf"
+ type="static_transform_publisher"
+ name="static_tf5"
+ args="-0.11 0.01 0 0 0 0 /$(arg robot)/base_link /$(arg robot)/imu_microstrain 100"/>
+ </group>
+
+ <!-- using "clock" option to use the simulated time. Rosbag launch as the first node -->
+ <param name="use_sim_time" value="true" />
<node pkg="rosbag"
type="play"
name="player"
required="true"
- args="-s $(arg sec) -r $(arg speed) --clock $(find wolf_demo_imu2d)/bag/$(arg bag).bag"/>
+ args="-s $(arg sec) -r $(arg speed) --clock $(find wolf_demo_imu2d)/bag/$(arg bag).bag">
+ <remap from="/$(arg robot)/sensors/imu/data" to="/imu_micro"/>
+ <remap from="/$(arg robot)/imu/data" to="/imu_micro"/>
+ <remap from="/$(arg robot)/sensors/bno055/imu" to="/imu_bno"/>
+ <remap from="/$(arg robot)/sensors/scan" to="/scan"/>
+ <remap from="/$(arg robot)/odom" to="/odom"/>
+ <remap from="/$(arg robot)/sensors/ublox_gps/raw_data_stream" to="/ublox_gps/raw_data_stream"/>
+ </node>
+ <!-- RVIZ -->
<group if="$(arg rviz)">
<node type="rviz"
name="rviz"
pkg="rviz"
- args="-d $(find wolf_demo_imu2d)/rviz/imu2d_demo.rviz"/>
+ args="-d $(find wolf_demo_imu2d)/rviz/imu2d_demo_$(arg robot).rviz"/>
</group>
+ <!-- WOLF -->
<node type="wolf_ros_node"
name="wolf_ros_node"
pkg="wolf_ros_node"
diff --git a/rviz/imu2d_demo.rviz b/rviz/imu2d_demo.rviz
index e1e2090e252d77b29f98ace7835b70e318240b28..2d76267e8a82ef31d6209a576809265f3093dc84 100644
--- a/rviz/imu2d_demo.rviz
+++ b/rviz/imu2d_demo.rviz
@@ -5,7 +5,6 @@ Panels:
Property Tree Widget:
Expanded:
- /Global Options1
- - /TF1
- /TF1/Frames1
- /TF1/Tree1
- /Odometry1/Shape1
@@ -17,9 +16,8 @@ Panels:
- /Trajectory1/Namespaces1
- /Axes1
- /PointCloud21
- - /Imu1
- Splitter Ratio: 0.5285326242446899
- Tree Height: 728
+ Splitter Ratio: 0.708737850189209
+ Tree Height: 839
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@@ -38,7 +36,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
- SyncSource: PointCloud2
+ SyncSource: LaserScan
Preferences:
PromptSaveOnExit: true
Toolbars:
@@ -69,22 +67,79 @@ Visualization Manager:
Frame Timeout: 15
Frames:
All Enabled: false
- ana/base_footprint:
+ helena/base_footprint:
Value: false
- ana/base_footprint_robot:
- Value: false
- ana/base_link:
+ helena/base_link:
Value: true
- ana/imu_bno055:
+ helena/camera_bottom_screw_frame:
+ Value: false
+ helena/camera_color_frame:
+ Value: false
+ helena/camera_color_optical_frame:
+ Value: false
+ helena/camera_depth_frame:
+ Value: false
+ helena/camera_depth_optical_frame:
+ Value: false
+ helena/camera_infra1_frame:
+ Value: false
+ helena/camera_infra1_optical_frame:
+ Value: false
+ helena/camera_infra2_frame:
+ Value: false
+ helena/camera_infra2_optical_frame:
+ Value: false
+ helena/camera_link:
+ Value: false
+ helena/front_left_axle:
Value: false
- ana/imu_microstrain:
+ helena/front_left_hub:
Value: false
- ana/odom:
+ helena/front_left_wheel:
+ Value: false
+ helena/front_right_axle:
+ Value: false
+ helena/front_right_hub:
+ Value: false
+ helena/front_right_wheel:
+ Value: false
+ helena/front_sonar:
+ Value: false
+ helena/helena_box:
+ Value: false
+ helena/helena_realsense_support:
+ Value: false
+ helena/imu_bno055:
+ Value: false
+ helena/imu_bno055_base:
+ Value: false
+ helena/odom:
Value: true
- ana/velodyne:
+ helena/rear_left_axle:
Value: false
- map:
+ helena/rear_left_hub:
+ Value: false
+ helena/rear_left_wheel:
Value: false
+ helena/rear_right_axle:
+ Value: false
+ helena/rear_right_hub:
+ Value: false
+ helena/rear_right_wheel:
+ Value: false
+ helena/rear_sonar:
+ Value: false
+ helena/robosense:
+ Value: false
+ helena/robosense_base:
+ Value: false
+ helena/top_plate:
+ Value: false
+ imu:
+ Value: true
+ map:
+ Value: true
+ Marker Alpha: 1
Marker Scale: 5
Name: TF
Show Arrows: false
@@ -92,17 +147,55 @@ Visualization Manager:
Show Names: true
Tree:
map:
- ana/odom:
- ana/base_footprint:
- ana/base_link:
- ana/imu_bno055:
+ helena/odom:
+ helena/base_footprint:
+ helena/base_link:
+ helena/front_left_axle:
+ helena/front_left_hub:
+ helena/front_left_wheel:
+ {}
+ helena/front_right_axle:
+ helena/front_right_hub:
+ helena/front_right_wheel:
+ {}
+ helena/front_sonar:
+ {}
+ helena/rear_left_axle:
+ helena/rear_left_hub:
+ helena/rear_left_wheel:
+ {}
+ helena/rear_right_axle:
+ helena/rear_right_hub:
+ helena/rear_right_wheel:
+ {}
+ helena/rear_sonar:
{}
- ana/imu_microstrain:
+ helena/top_plate:
+ helena/helena_box:
+ {}
+ helena/helena_realsense_support:
+ helena/camera_bottom_screw_frame:
+ helena/camera_link:
+ helena/camera_color_frame:
+ helena/camera_color_optical_frame:
+ {}
+ helena/camera_depth_frame:
+ helena/camera_depth_optical_frame:
+ {}
+ helena/camera_infra1_frame:
+ helena/camera_infra1_optical_frame:
+ {}
+ helena/camera_infra2_frame:
+ helena/camera_infra2_optical_frame:
+ {}
+ helena/robosense_base:
+ helena/robosense:
+ {}
+ imu:
{}
- ana/velodyne:
+ helena/imu_bno055_base:
+ helena/imu_bno055:
{}
- ana/base_footprint_robot:
- {}
Update Interval: 0
Value: true
- Angle Tolerance: 0.10000000149011612
@@ -126,6 +219,7 @@ Visualization Manager:
Keep: 300
Name: Odometry
Position Tolerance: 0.10000000149011612
+ Queue Size: 10
Shape:
Alpha: 1
Axes Length: 1
@@ -151,7 +245,7 @@ Visualization Manager:
Color: 250; 84; 255
Color Transformer: FlatColor
Decay Time: 10
- Enabled: false
+ Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
@@ -162,11 +256,11 @@ Visualization Manager:
Size (Pixels): 3
Size (m): 0.05999999865889549
Style: Flat Squares
- Topic: /ana/sensors/scan
+ Topic: /scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
- Value: false
+ Value: true
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: /wolf_ros_node/graph_landmarks
@@ -180,35 +274,26 @@ Visualization Manager:
Marker Topic: /wolf_ros_node/graph_factors
Name: Factors
Namespaces:
- factors_processorimu2dbno: true
- factors_processorimu2dmicro: true
- factors_processorloopclosureicp: true
- factors_processorodom2d: true
factors_processorodomicp: true
- factors_text_processorimu2dbno: false
- factors_text_processorimu2dmicro: false
- factors_text_processorloopclosureicp: false
- factors_text_processorodom2d: false
factors_text_processorodomicp: false
- factors_text_unnamed_processor: false
- factors_unnamed_processor: true
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
- Enabled: true
+ Enabled: false
Marker Topic: /wolf_ros_node/graph_trajectory
Name: Trajectory
Namespaces:
- frames: false
- frames_text: false
+ {}
Queue Size: 100
- Value: true
- - Class: rviz/Axes
+ Value: false
+ - Alpha: 1
+ Class: rviz/Axes
Enabled: true
Length: 1
Name: Axes
Radius: 0.10000000149011612
- Reference Frame: ana/base_link
+ Reference Frame: helena/base_link
+ Show Trail: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
@@ -254,7 +339,8 @@ Visualization Manager:
Enabled: true
History Length: 1
Name: Imu
- Topic: /ana/imu/data_remapped
+ Queue Size: 10
+ Topic: /imu_micro
Unreliable: false
Value: true
Enabled: true
@@ -285,12 +371,13 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
- Distance: 27.63036346435547
+ Distance: 29.216249465942383
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
+ Field of View: 0.7853981852531433
Focal Point:
X: 2.3574845790863037
Y: -1.3090972900390625
@@ -300,10 +387,9 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
- Pitch: 0.7247968912124634
+ Pitch: 0.5097973346710205
Target Frame: map
- Value: Orbit (rviz)
- Yaw: 5.4131693840026855
+ Yaw: 4.688166618347168
Saved:
- Angle: 0
Class: rviz/TopDownOrtho
@@ -317,7 +403,6 @@ Visualization Manager:
Near Clip Distance: 0.009999999776482582
Scale: 64.65961456298828
Target Frame: map
- Value: TopDownOrtho (rviz)
X: 8.825014114379883
Y: -0.17566636204719543
- Angle: 0
@@ -332,7 +417,6 @@ Visualization Manager:
Near Clip Distance: 0.009999999776482582
Scale: 50.07240295410156
Target Frame: map
- Value: TopDownOrtho (rviz)
X: 1.947830080986023
Y: 3.9687037467956543
- Angle: -1.5700000524520874
@@ -347,16 +431,15 @@ Visualization Manager:
Near Clip Distance: 0.009999999776482582
Scale: 42.187442779541016
Target Frame: map
- Value: TopDownOrtho (rviz)
X: 1.9746785163879395
Y: 4.48727560043335
Window Geometry:
Displays:
collapsed: false
- Height: 1025
+ Height: 1136
Hide Left Dock: false
Hide Right Dock: true
- QMainWindow State: 000000ff00000000fd0000000400000000000002e200000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004550000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ QMainWindow State: 000000ff00000000fd000000040000000000000205000003d2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003d2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007420000003efc0100000002fb0000000800540069006d0065010000000000000742000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000537000003d200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@@ -365,6 +448,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: true
- Width: 1853
- X: 67
+ Width: 1858
+ X: 62
Y: 27
diff --git a/rviz/imu2d_demo_ana.rviz b/rviz/imu2d_demo_ana.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..37c624ac520ee25ef9a4f67c5a4446df25c2ceed
--- /dev/null
+++ b/rviz/imu2d_demo_ana.rviz
@@ -0,0 +1,508 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /TF1/Status1
+ - /TF1/Frames1
+ - /TF1/Tree1
+ - /Odometry1/Shape1
+ - /Landmarks1
+ - /Factors1
+ - /Factors1/Namespaces1
+ - /Trajectory1
+ - /Trajectory1/Namespaces1
+ - /Axes1
+ - /PointCloud21
+ Splitter Ratio: 0.708737850189209
+ Tree Height: 839
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: LaserScan
+Preferences:
+ PromptSaveOnExit: true
+Toolbars:
+ toolButtonStyle: 2
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 5
+ Class: rviz/Grid
+ Color: 160; 160; 164
+ Enabled: true
+ Line Style:
+ Line Width: 0.029999999329447746
+ Value: Lines
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 100
+ Reference Frame: <Fixed Frame>
+ Value: true
+ - Class: rviz/TF
+ Enabled: true
+ Frame Timeout: 15
+ Frames:
+ All Enabled: false
+ ana/ana_box:
+ Value: false
+ ana/ana_realsense_support:
+ Value: false
+ ana/base_footprint:
+ Value: false
+ ana/base_footprint_robot:
+ Value: false
+ ana/base_link:
+ Value: true
+ ana/camera_aligned_depth_to_color_frame:
+ Value: false
+ ana/camera_aligned_depth_to_infra1_frame:
+ 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:
+ Value: false
+ ana/front_left_hub:
+ Value: false
+ ana/front_left_wheel:
+ Value: false
+ ana/front_right_axle:
+ Value: false
+ ana/front_right_hub:
+ Value: false
+ ana/front_right_wheel:
+ Value: false
+ ana/front_sonar:
+ Value: false
+ ana/imu_bno055:
+ Value: false
+ ana/imu_bno055_base:
+ Value: false
+ ana/imu_microstrain:
+ Value: false
+ ana/odom:
+ Value: true
+ ana/pan_frame:
+ Value: false
+ ana/realsense_support_pan_tilt:
+ Value: false
+ ana/rear_left_axle:
+ Value: false
+ ana/rear_left_hub:
+ Value: false
+ ana/rear_left_wheel:
+ Value: false
+ ana/rear_right_axle:
+ 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:
+ Value: false
+ ana/velodyne_base:
+ Value: false
+ camera_accel_frame:
+ Value: false
+ camera_accel_optical_frame:
+ Value: false
+ camera_gyro_frame:
+ Value: false
+ camera_gyro_optical_frame:
+ Value: false
+ imu:
+ Value: false
+ map:
+ Value: true
+ Marker Alpha: 1
+ Marker Scale: 5
+ Name: TF
+ Show Arrows: false
+ Show Axes: true
+ Show Names: true
+ Tree:
+ map:
+ ana/odom:
+ ana/base_footprint:
+ ana/base_link:
+ ana/front_left_axle:
+ ana/front_left_hub:
+ ana/front_left_wheel:
+ {}
+ ana/front_right_axle:
+ ana/front_right_hub:
+ ana/front_right_wheel:
+ {}
+ ana/front_sonar:
+ {}
+ ana/imu_microstrain:
+ {}
+ ana/rear_left_axle:
+ ana/rear_left_hub:
+ ana/rear_left_wheel:
+ {}
+ 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_aligned_depth_to_color_frame:
+ {}
+ ana/camera_aligned_depth_to_infra1_frame:
+ {}
+ 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:
+ {}
+ camera_accel_frame:
+ camera_accel_optical_frame:
+ {}
+ camera_gyro_frame:
+ camera_gyro_optical_frame:
+ {}
+ ana/velodyne_base:
+ ana/velodyne:
+ {}
+ imu:
+ {}
+ ana/imu_bno055_base:
+ ana/imu_bno055:
+ {}
+ ana/base_footprint_robot:
+ {}
+ Update Interval: 0
+ Value: true
+ - Angle Tolerance: 0.10000000149011612
+ Class: rviz/Odometry
+ Covariance:
+ Orientation:
+ Alpha: 0.5
+ Color: 255; 255; 127
+ Color Style: Unique
+ Frame: Local
+ Offset: 1
+ Scale: 1
+ Value: true
+ Position:
+ Alpha: 0.30000001192092896
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: false
+ Enabled: false
+ Keep: 300
+ Name: Odometry
+ Position Tolerance: 0.10000000149011612
+ Queue Size: 10
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 255; 25; 0
+ Head Length: 0.10000000149011612
+ Head Radius: 0.10000000149011612
+ Shaft Length: 0.30000001192092896
+ Shaft Radius: 0.05000000074505806
+ Value: Arrow
+ Topic: /ana/odom
+ Unreliable: false
+ Value: false
+ - Alpha: 0.5
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensities
+ Class: rviz/LaserScan
+ Color: 250; 84; 255
+ Color Transformer: FlatColor
+ Decay Time: 10
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Min Color: 0; 0; 0
+ Name: LaserScan
+ Position Transformer: XYZ
+ Queue Size: 1
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.05999999865889549
+ Style: Flat Squares
+ Topic: /scan
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Class: rviz/MarkerArray
+ Enabled: false
+ Marker Topic: /wolf_ros_node/graph_landmarks
+ Name: Landmarks
+ Namespaces:
+ {}
+ Queue Size: 100
+ Value: false
+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /wolf_ros_node/graph_factors
+ Name: Factors
+ Namespaces:
+ factors_processorodomicp: true
+ factors_text_processorodomicp: false
+ Queue Size: 100
+ Value: true
+ - Class: rviz/MarkerArray
+ Enabled: false
+ Marker Topic: /wolf_ros_node/graph_trajectory
+ Name: Trajectory
+ Namespaces:
+ {}
+ Queue Size: 100
+ Value: false
+ - Alpha: 1
+ Class: rviz/Axes
+ Enabled: true
+ Length: 1
+ Name: Axes
+ Radius: 0.10000000149011612
+ Reference Frame: ana/base_link
+ Show Trail: false
+ Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 0
+ Min Value: 0
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/PointCloud2
+ Color: 0; 170; 0
+ Color Transformer: RGB8
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Min Color: 0; 173; 14
+ Name: PointCloud2
+ Position Transformer: XYZ
+ Queue Size: 1
+ Selectable: false
+ Size (Pixels): 3
+ Size (m): 0.03999999910593033
+ Style: Squares
+ Topic: /wolf_ros_node/map_pointcloud
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Alpha: 0.699999988079071
+ Class: rviz/Map
+ Color Scheme: map
+ Draw Behind: false
+ Enabled: false
+ Name: Map
+ Topic: /wolf_ros_node/map_occgrid
+ Unreliable: false
+ Use Timestamp: false
+ Value: false
+ - Alpha: 0.5
+ Class: rviz_plugin_tutorials/Imu
+ Color: 204; 51; 204
+ Enabled: true
+ History Length: 1
+ Name: Imu
+ Queue Size: 10
+ Topic: /imu_micro
+ Unreliable: false
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ 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
+ Theta std deviation: 0.2617993950843811
+ Topic: /initialpose
+ X std deviation: 0.5
+ Y std deviation: 0.5
+ - Class: rviz/SetGoal
+ Topic: /move_base_simple/goal
+ - Class: rviz/PublishPoint
+ Single click: true
+ Topic: /clicked_point
+ Value: true
+ Views:
+ Current:
+ Class: rviz/Orbit
+ Distance: 29.216249465942383
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Field of View: 0.7853981852531433
+ Focal Point:
+ X: 2.3574845790863037
+ Y: -1.3090972900390625
+ Z: -0.7893345952033997
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.5097973346710205
+ Target Frame: map
+ Yaw: 4.688166618347168
+ Saved:
+ - Angle: 0
+ Class: rviz/TopDownOrtho
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Invert Z Axis: false
+ Name: TopDownOrtho
+ Near Clip Distance: 0.009999999776482582
+ Scale: 64.65961456298828
+ Target Frame: map
+ X: 8.825014114379883
+ Y: -0.17566636204719543
+ - Angle: 0
+ Class: rviz/TopDownOrtho
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Invert Z Axis: false
+ Name: TopDownOrtho
+ Near Clip Distance: 0.009999999776482582
+ Scale: 50.07240295410156
+ Target Frame: map
+ X: 1.947830080986023
+ Y: 3.9687037467956543
+ - Angle: -1.5700000524520874
+ Class: rviz/TopDownOrtho
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Invert Z Axis: false
+ Name: TopDownOrtho
+ Near Clip Distance: 0.009999999776482582
+ Scale: 42.187442779541016
+ Target Frame: map
+ X: 1.9746785163879395
+ Y: 4.48727560043335
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 1136
+ Hide Left Dock: false
+ Hide Right Dock: true
+ QMainWindow State: 000000ff00000000fd000000040000000000000205000003d2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003d2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007420000003efc0100000002fb0000000800540069006d0065010000000000000742000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000537000003d200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: true
+ Width: 1858
+ X: 62
+ Y: 27
diff --git a/rviz/imu2d_demo_helena.rviz b/rviz/imu2d_demo_helena.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..ef9c97ea73dd577308282ae46b46dad83c8c05cd
--- /dev/null
+++ b/rviz/imu2d_demo_helena.rviz
@@ -0,0 +1,462 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /TF1/Frames1
+ - /TF1/Tree1
+ - /Odometry1/Shape1
+ - /LaserScan1
+ - /Landmarks1
+ - /Factors1
+ - /Factors1/Namespaces1
+ - /Trajectory1
+ - /Trajectory1/Namespaces1
+ - /Axes1
+ - /PointCloud21
+ - /Imu1
+ Splitter Ratio: 0.708737850189209
+ Tree Height: 839
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: LaserScan
+Preferences:
+ PromptSaveOnExit: true
+Toolbars:
+ toolButtonStyle: 2
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 5
+ Class: rviz/Grid
+ Color: 160; 160; 164
+ Enabled: true
+ Line Style:
+ Line Width: 0.029999999329447746
+ Value: Lines
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 100
+ Reference Frame: <Fixed Frame>
+ Value: true
+ - Class: rviz/TF
+ Enabled: true
+ Frame Timeout: 15
+ Frames:
+ All Enabled: false
+ helena/base_footprint:
+ Value: false
+ helena/base_link:
+ Value: true
+ helena/camera_bottom_screw_frame:
+ Value: false
+ helena/camera_color_frame:
+ Value: false
+ helena/camera_color_optical_frame:
+ Value: false
+ helena/camera_depth_frame:
+ Value: false
+ helena/camera_depth_optical_frame:
+ Value: false
+ helena/camera_infra1_frame:
+ Value: false
+ helena/camera_infra1_optical_frame:
+ Value: false
+ helena/camera_infra2_frame:
+ Value: false
+ helena/camera_infra2_optical_frame:
+ Value: false
+ helena/camera_link:
+ Value: false
+ helena/front_left_axle:
+ Value: false
+ helena/front_left_hub:
+ Value: false
+ helena/front_left_wheel:
+ Value: false
+ helena/front_right_axle:
+ Value: false
+ helena/front_right_hub:
+ Value: false
+ helena/front_right_wheel:
+ Value: false
+ helena/front_sonar:
+ Value: false
+ helena/helena_box:
+ Value: false
+ helena/helena_realsense_support:
+ Value: false
+ helena/imu_bno055:
+ Value: false
+ helena/imu_bno055_base:
+ Value: false
+ helena/imu_microstrain:
+ Value: true
+ helena/odom:
+ Value: true
+ helena/rear_left_axle:
+ Value: false
+ helena/rear_left_hub:
+ Value: false
+ helena/rear_left_wheel:
+ Value: false
+ helena/rear_right_axle:
+ Value: false
+ helena/rear_right_hub:
+ Value: false
+ helena/rear_right_wheel:
+ Value: false
+ helena/rear_sonar:
+ Value: false
+ helena/robosense:
+ Value: false
+ helena/robosense_base:
+ Value: false
+ helena/top_plate:
+ Value: false
+ imu:
+ Value: true
+ map:
+ Value: true
+ Marker Alpha: 1
+ Marker Scale: 5
+ Name: TF
+ Show Arrows: false
+ Show Axes: true
+ Show Names: true
+ Tree:
+ map:
+ helena/odom:
+ helena/base_footprint:
+ helena/base_link:
+ helena/front_left_axle:
+ helena/front_left_hub:
+ helena/front_left_wheel:
+ {}
+ helena/front_right_axle:
+ helena/front_right_hub:
+ helena/front_right_wheel:
+ {}
+ helena/front_sonar:
+ {}
+ helena/imu_microstrain:
+ {}
+ helena/rear_left_axle:
+ helena/rear_left_hub:
+ helena/rear_left_wheel:
+ {}
+ helena/rear_right_axle:
+ helena/rear_right_hub:
+ helena/rear_right_wheel:
+ {}
+ helena/rear_sonar:
+ {}
+ helena/top_plate:
+ helena/helena_box:
+ {}
+ helena/helena_realsense_support:
+ helena/camera_bottom_screw_frame:
+ helena/camera_link:
+ helena/camera_color_frame:
+ helena/camera_color_optical_frame:
+ {}
+ helena/camera_depth_frame:
+ helena/camera_depth_optical_frame:
+ {}
+ helena/camera_infra1_frame:
+ helena/camera_infra1_optical_frame:
+ {}
+ helena/camera_infra2_frame:
+ helena/camera_infra2_optical_frame:
+ {}
+ helena/robosense_base:
+ helena/robosense:
+ {}
+ imu:
+ {}
+ helena/imu_bno055_base:
+ helena/imu_bno055:
+ {}
+ Update Interval: 0
+ Value: true
+ - Angle Tolerance: 0.10000000149011612
+ Class: rviz/Odometry
+ Covariance:
+ Orientation:
+ Alpha: 0.5
+ Color: 255; 255; 127
+ Color Style: Unique
+ Frame: Local
+ Offset: 1
+ Scale: 1
+ Value: true
+ Position:
+ Alpha: 0.30000001192092896
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: false
+ Enabled: false
+ Keep: 300
+ Name: Odometry
+ Position Tolerance: 0.10000000149011612
+ Queue Size: 10
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 255; 25; 0
+ Head Length: 0.10000000149011612
+ Head Radius: 0.10000000149011612
+ Shaft Length: 0.30000001192092896
+ Shaft Radius: 0.05000000074505806
+ Value: Arrow
+ Topic: /ana/odom
+ Unreliable: false
+ Value: false
+ - Alpha: 0.5
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensities
+ Class: rviz/LaserScan
+ Color: 250; 84; 255
+ Color Transformer: FlatColor
+ Decay Time: 10
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Min Color: 0; 0; 0
+ Name: LaserScan
+ Position Transformer: XYZ
+ Queue Size: 1
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.05999999865889549
+ Style: Flat Squares
+ Topic: /scan
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Class: rviz/MarkerArray
+ Enabled: false
+ Marker Topic: /wolf_ros_node/graph_landmarks
+ Name: Landmarks
+ Namespaces:
+ {}
+ Queue Size: 100
+ Value: false
+ - Class: rviz/MarkerArray
+ Enabled: true
+ Marker Topic: /wolf_ros_node/graph_factors
+ Name: Factors
+ Namespaces:
+ factors_processorimumicro: true
+ factors_processorodomicp: true
+ factors_text_processorimumicro: false
+ factors_text_processorodomicp: false
+ factors_text_unnamed_processor: false
+ factors_unnamed_processor: true
+ Queue Size: 100
+ Value: true
+ - Class: rviz/MarkerArray
+ Enabled: false
+ Marker Topic: /wolf_ros_node/graph_trajectory
+ Name: Trajectory
+ Namespaces:
+ {}
+ Queue Size: 100
+ Value: false
+ - Alpha: 1
+ Class: rviz/Axes
+ Enabled: true
+ Length: 1
+ Name: Axes
+ Radius: 0.10000000149011612
+ Reference Frame: helena/base_link
+ Show Trail: false
+ Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 0
+ Min Value: 0
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/PointCloud2
+ Color: 0; 170; 0
+ Color Transformer: RGB8
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Min Color: 0; 173; 14
+ Name: PointCloud2
+ Position Transformer: XYZ
+ Queue Size: 1
+ Selectable: false
+ Size (Pixels): 3
+ Size (m): 0.03999999910593033
+ Style: Squares
+ Topic: /wolf_ros_node/map_pointcloud
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Alpha: 0.699999988079071
+ Class: rviz/Map
+ Color Scheme: map
+ Draw Behind: false
+ Enabled: false
+ Name: Map
+ Topic: /wolf_ros_node/map_occgrid
+ Unreliable: false
+ Use Timestamp: false
+ Value: false
+ - Alpha: 0.5
+ Class: rviz_plugin_tutorials/Imu
+ Color: 204; 51; 204
+ Enabled: true
+ History Length: 1
+ Name: Imu
+ Queue Size: 10
+ Topic: /imu_micro_remapped
+ Unreliable: false
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ 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
+ Theta std deviation: 0.2617993950843811
+ Topic: /initialpose
+ X std deviation: 0.5
+ Y std deviation: 0.5
+ - Class: rviz/SetGoal
+ Topic: /move_base_simple/goal
+ - Class: rviz/PublishPoint
+ Single click: true
+ Topic: /clicked_point
+ Value: true
+ Views:
+ Current:
+ Class: rviz/Orbit
+ Distance: 32.773921966552734
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Field of View: 0.7853981852531433
+ Focal Point:
+ X: 2.3574845790863037
+ Y: -1.3090972900390625
+ Z: -0.7893345952033997
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.7547971606254578
+ Target Frame: map
+ Yaw: 0.05999409034848213
+ Saved:
+ - Angle: 0
+ Class: rviz/TopDownOrtho
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Invert Z Axis: false
+ Name: TopDownOrtho
+ Near Clip Distance: 0.009999999776482582
+ Scale: 64.65961456298828
+ Target Frame: map
+ X: 8.825014114379883
+ Y: -0.17566636204719543
+ - Angle: 0
+ Class: rviz/TopDownOrtho
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Invert Z Axis: false
+ Name: TopDownOrtho
+ Near Clip Distance: 0.009999999776482582
+ Scale: 50.07240295410156
+ Target Frame: map
+ X: 1.947830080986023
+ Y: 3.9687037467956543
+ - Angle: -1.5700000524520874
+ Class: rviz/TopDownOrtho
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Invert Z Axis: false
+ Name: TopDownOrtho
+ Near Clip Distance: 0.009999999776482582
+ Scale: 42.187442779541016
+ Target Frame: map
+ X: 1.9746785163879395
+ Y: 4.48727560043335
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 1136
+ Hide Left Dock: false
+ Hide Right Dock: true
+ QMainWindow State: 000000ff00000000fd000000040000000000000205000003d2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003d2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007420000003efc0100000002fb0000000800540069006d0065010000000000000742000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000537000003d200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: true
+ Width: 1858
+ X: 62
+ Y: 27
diff --git a/yaml/imu2d_test0.yaml b/yaml/imu2d_test0.yaml
index e8798ed2f78a98b782832be15ddfb0bf21404a0b..6034e3aa8725fae63bf6117ea02a292cc0412d2b 100644
--- a/yaml/imu2d_test0.yaml
+++ b/yaml/imu2d_test0.yaml
@@ -67,7 +67,7 @@ config:
-
package: "wolf_ros_laser"
type: "SubscriberLaser2d"
- topic: "/ana/sensors/scan"
+ topic: "/scan"
sensor_name: "scanner_front_left"
load_params_from_msg: true
diff --git a/yaml/imu2d_test1.yaml b/yaml/imu2d_test1.yaml
index 5ae135605b12c4b40f448ce85b8fb59f6a4e70e0..5258f9a027ea898fb4281e660dcdd546ceb2913b 100644
--- a/yaml/imu2d_test1.yaml
+++ b/yaml/imu2d_test1.yaml
@@ -99,24 +99,24 @@ config:
-
package: "wolf_ros_node"
type: "SubscriberOdom2d"
- topic: "/ana/odom"
+ topic: "/odom"
sensor_name: "odom2d"
-
package: "wolf_ros_laser"
type: "SubscriberLaser2d"
- topic: "/ana/sensors/scan"
+ topic: "/scan"
sensor_name: "scanner_front_left"
load_params_from_msg: true
-
package: "wolf_ros_imu"
type: "SubscriberImuEnableable"
- topic: "/ana/sensors/bno055_imu/imu"
+ topic: "/imu_bno"
sensor_name: "bno"
follow: "test_imu_subscriber_bno.yaml"
-
package: "wolf_ros_imu"
type: "SubscriberImuEnableable"
- topic: "/ana/imu/data"
+ topic: "/imu_micro"
sensor_name: "microstrain"
follow: "test_imu_subscriber_microstrain.yaml"
diff --git a/yaml/imu2d_test10.yaml b/yaml/imu2d_test10.yaml
index 00406b56b52c2c3f178dc880b61e24c83dabc2ab..c137dade19549322a89fccaaf225ac6ea44ebbfe 100644
--- a/yaml/imu2d_test10.yaml
+++ b/yaml/imu2d_test10.yaml
@@ -1,7 +1,7 @@
config:
debug:
profiling: true
- profiling_file: "~/wolf_demo_profiling_imu2d_test0.txt"
+ profiling_file: "~/wolf_demo_profiling_imu2d_test10.txt"
print_problem: false
print_period: 2
print_depth: 4
@@ -12,14 +12,6 @@ config:
tree_manager:
type: "none"
frame_structure: "POV"
- # dimension: 2
- # prior:
- # mode: "fix"
- # $state:
- # P: [0,0]
- # O: [0]
- # V: [0,0]
- # time_tolerance: 0.1
dimension: 3
prior:
mode: "fix"
@@ -50,32 +42,12 @@ config:
sensor_name: "scanner_front_left"
plugin: "laser"
follow: "test_laser_processor.yaml"
- # -
- # type: "ProcessorLoopClosureIcp"
- # name: "processorloopclosureicp"
- # sensor_name: "scanner_front_left"
- # plugin: "laser"
- # time_tolerance: 0.1
- # apply_loss_function: true
- # keyframe_vote:
- # voting_active: false
- # recent_frames_ignored: 3
- # frames_ignored_after_loop: 0
- # max_error_threshold: 0.02
- # min_points_percent: 40
- # max_loops: 3
- # max_candidates: 5
- # max_attempts: 15
- # candidate_generation: "random" # 'random' or 'tree'
- # icp:
- # follow: "csm.yaml"
-
ROS subscriber:
-
package: "wolf_ros_laser"
type: "SubscriberLaser2d"
- topic: "/ana/sensors/scan"
+ topic: "/scan"
sensor_name: "scanner_front_left"
load_params_from_msg: true
diff --git a/yaml/imu2d_test15.yaml b/yaml/imu2d_test15.yaml
index 853c457a44352782cdb64cf11e7b9a27f6b954ca..852bb199b2dbc913b8c90e6457063f1c44cd8608 100644
--- a/yaml/imu2d_test15.yaml
+++ b/yaml/imu2d_test15.yaml
@@ -12,14 +12,6 @@ config:
tree_manager:
type: "none"
frame_structure: "POV"
- # dimension: 2
- # prior:
- # mode: "fix"
- # $state:
- # P: [0,0]
- # O: [0]
- # V: [0,0]
- # time_tolerance: 0.1
dimension: 3
prior:
mode: "factor"
@@ -47,13 +39,13 @@ config:
name: "scanner_front_left"
plugin: "laser"
follow: "test_laser_params.yaml"
- -
- type: "SensorImu"
- name: "bno"
- plugin: "imu"
- extrinsic:
- pose: [0,0,0,0,0,0,1]
- follow: "test_imu_params_bno.yaml"
+ # -
+ # type: "SensorImu"
+ # name: "bno"
+ # plugin: "imu"
+ # extrinsic:
+ # pose: [0,0,0,0,0,0,1]
+ # follow: "test_imu_params_bno.yaml"
-
type: "SensorImu"
name: "microstrain"
@@ -70,30 +62,11 @@ config:
plugin: "laser"
follow: "test_laser_processor.yaml"
# -
- # type: "ProcessorLoopClosureIcp"
- # name: "processorloopclosureicp"
- # sensor_name: "scanner_front_left"
- # plugin: "laser"
- # time_tolerance: 0.1
- # apply_loss_function: true
- # keyframe_vote:
- # voting_active: false
- # recent_frames_ignored: 10
- # frames_ignored_after_loop: 0
- # max_error_threshold: 0.02
- # min_points_percent: 40
- # max_loops: 1
- # max_candidates: 5
- # max_attempts: 5
- # candidate_generation: "random" # 'random' or 'tree'
- # icp:
- # follow: "csm.yaml"
- -
- type: "ProcessorImu"
- name: "processorimubno"
- sensor_name: "bno"
- plugin: "imu"
- follow: "test_imu_processor_bno.yaml"
+ # type: "ProcessorImu"
+ # name: "processorimubno"
+ # sensor_name: "bno"
+ # plugin: "imu"
+ # follow: "test_imu_processor_bno.yaml"
-
type: "ProcessorImu"
name: "processorimumicro"
@@ -105,22 +78,19 @@ config:
-
package: "wolf_ros_laser"
type: "SubscriberLaser2d"
- # topic: "/ana/sensors/scan"
- topic: "/helena/sensors/scan"
+ topic: "/scan"
sensor_name: "scanner_front_left"
load_params_from_msg: true
+ # -
+ # package: "wolf_ros_imu"
+ # type: "SubscriberImuEnableable"
+ # topic: "/imu_bnomal"
+ # sensor_name: "bno"
+ # follow: "test_imu_subscriber_bno.yaml"
-
package: "wolf_ros_imu"
type: "SubscriberImuEnableable"
- # topic: "/ana/sensors/bno055_imu/imumal"
- topic: "/helena/sensors/bno055_imu/imumal"
- sensor_name: "bno"
- follow: "test_imu_subscriber_bno.yaml"
- -
- package: "wolf_ros_imu"
- type: "SubscriberImuEnableable"
- # topic: "/ana/imu/data"
- topic: "/helena/imu/data"
+ topic: "/imu_micro"
sensor_name: "microstrain"
follow: "test_imu_subscriber_microstrain.yaml"
diff --git a/yaml/imu2d_test2.yaml b/yaml/imu2d_test2.yaml
index d13e4c2f6f81cdb9ee78cf4351edf6eb81f7df10..96965f11979b1105bd8ec04ee151b7942c702a32 100644
--- a/yaml/imu2d_test2.yaml
+++ b/yaml/imu2d_test2.yaml
@@ -56,12 +56,12 @@ config:
-
package: "wolf_ros_node"
type: "SubscriberOdom2d"
- topic: "/helena/odom"
+ topic: "/odom"
sensor_name: "odom2d"
-
package: "wolf_ros_laser"
type: "SubscriberLaser2d"
- topic: "/helena/sensors/scan"
+ topic: "/scan"
sensor_name: "scanner_front_left"
load_params_from_msg: true
diff --git a/yaml/imu2d_test3.yaml b/yaml/imu2d_test3.yaml
index 668270350f786fc3b909e68e10792e6f74933212..8712bd58c6de4428b87ec0e6eebcd3d3e8609175 100644
--- a/yaml/imu2d_test3.yaml
+++ b/yaml/imu2d_test3.yaml
@@ -77,21 +77,21 @@ config:
-
package: "wolf_ros_node"
type: "SubscriberOdom2d"
- topic: "/ana/odom"
+ topic: "/odom"
sensor_name: "odom2d"
-
package: "wolf_ros_laser"
type: "SubscriberLaser2d"
- topic: "/ana/sensors/scan"
+ topic: "/scan"
sensor_name: "scanner_front_left"
load_params_from_msg: true
-
package: "wolf_ros_imu"
type: "SubscriberImuEnableable"
- topic: "/ana/sensors/bno055_imu/imu"
+ topic: "/imu_bno"
+ # topic: "/imu_micro"
sensor_name: "bno"
- #topic: "/ana/imu/data"
- #sensor_name: "microstrain"
+ # sensor_name: "microstrain"
follow: "test_imu_subscriber.yaml"
ROS publisher:
diff --git a/yaml/imu2d_test4.yaml b/yaml/imu2d_test4.yaml
index a338b354e4b6a3b66f4b64752f5f4bc2f5891900..fb09b0b5f71d6e2d0a7c0205dc99a00c473cc0da 100644
--- a/yaml/imu2d_test4.yaml
+++ b/yaml/imu2d_test4.yaml
@@ -69,17 +69,17 @@ config:
-
package: "wolf_ros_laser"
type: "SubscriberLaser2d"
- topic: "/helena/sensors/scan"
+ topic: "/scan"
sensor_name: "scanner_front_left"
load_params_from_msg: true
-
package: "wolf_ros_imu"
type: "SubscriberImuEnableable"
##bno
- #topic: "/ana/sensors/bno055_imu/imu"
+ #topic: "/imu_bno"
#sensor_name: "bno"
#microstrain
- topic: "/helena/sensors/imu/data"
+ topic: "/imu_micro"
sensor_name: "microstrain"
follow: "test_imu_subscriber.yaml"
diff --git a/yaml/imu2d_test5.yaml b/yaml/imu2d_test5.yaml
index 37f81ab22d132723a3b9a4b207aee755b7d953f1..50c3a97b6af577bc31197cbe8898c8cbdb315290 100644
--- a/yaml/imu2d_test5.yaml
+++ b/yaml/imu2d_test5.yaml
@@ -89,19 +89,19 @@ config:
-
package: "wolf_ros_laser"
type: "SubscriberLaser2d"
- topic: "/ana/sensors/scan"
+ topic: "/scan"
sensor_name: "scanner_front_left"
load_params_from_msg: true
-
package: "wolf_ros_imu"
type: "SubscriberImuEnableable"
- topic: "/ana/sensors/bno055_imu/imumal"
+ topic: "/imu_bnomal"
sensor_name: "bno"
follow: "test_imu_subscriber_bno.yaml"
-
package: "wolf_ros_imu"
type: "SubscriberImuEnableable"
- topic: "/ana/imu/data"
+ topic: "/imu_micro"
sensor_name: "microstrain"
follow: "test_imu_subscriber_microstrain.yaml"
diff --git a/yaml/imu2d_test6.yaml b/yaml/imu2d_test6.yaml
index 01ccb1b039f2aba6ff4e5aa6deffb1626d04d42b..da0506330c8590e63f282c4597bd8b7da1ca8626 100644
--- a/yaml/imu2d_test6.yaml
+++ b/yaml/imu2d_test6.yaml
@@ -55,12 +55,12 @@ config:
-
package: "wolf_ros_node"
type: "SubscriberOdom2d"
- topic: "/ana/odom"
+ topic: "/odom"
sensor_name: "odom2d"
-
package: "wolf_ros_laser"
type: "SubscriberLaser2d"
- topic: "/ana/sensors/scan"
+ topic: "/scan"
sensor_name: "scanner_front_left"
load_params_from_msg: true
diff --git a/yaml/imu2d_test7.yaml b/yaml/imu2d_test7.yaml
index b0fa2cbc4d3ae2b5a9d97cac4b808db1a2374c53..058f8a1f82cf017cf2187f7e7e2005115fa5d1d4 100644
--- a/yaml/imu2d_test7.yaml
+++ b/yaml/imu2d_test7.yaml
@@ -68,18 +68,18 @@ config:
-
package: "wolf_ros_node"
type: "SubscriberOdom2d"
- topic: "/helena/odom"
+ topic: "/odom"
sensor_name: "odom2d"
-
package: "wolf_ros_laser"
type: "SubscriberLaser2d"
- topic: "/helena/sensors/scan"
+ topic: "/scan"
sensor_name: "scanner_front_left"
load_params_from_msg: true
-
package: "wolf_ros_gnss"
type: "SubscriberGnssUblox"
- topic: "/helena/sensors/ublox_gps/raw_data_stream"
+ topic: "/ublox_gps/raw_data_stream"
sensor_name: "gnss"
follow: "test_subscriber_gnss.yaml"
diff --git a/yaml/test_imu_subscriber_bno.yaml b/yaml/test_imu_subscriber_bno.yaml
index 34e3cf7f9c4c37df9bb107fb8d9b7d4763ba0c47..25fa3ab2b8b9cad06e7d64b41f6ed9af72e25599 100644
--- a/yaml/test_imu_subscriber_bno.yaml
+++ b/yaml/test_imu_subscriber_bno.yaml
@@ -7,7 +7,7 @@ cov_source: "sensor"
in_degrees: true
#all
-topic_enable: "/helena/sensors/bno055_imu/imu/topic_enable"
+topic_enable: "/imu_bno/enable"
static_init_duration: 5
lowpass_filter: true
lowpass_cutoff_freq: 5
diff --git a/yaml/test_imu_subscriber_microstrain.yaml b/yaml/test_imu_subscriber_microstrain.yaml
index 1bf1e8c462c3917a25c3351d3749473cc930d7d2..c4510187db7463dbaac0874b2709e6c62e3a176e 100644
--- a/yaml/test_imu_subscriber_microstrain.yaml
+++ b/yaml/test_imu_subscriber_microstrain.yaml
@@ -7,7 +7,7 @@ cov_source: "sensor"
in_degrees: false
#all
-topic_enable: "/helena/sensors/bno055_imu/imu/topic_enable"
+topic_enable: "/imu_micro/enable"
static_init_duration: 3
lowpass_filter: false
lowpass_cutoff_freq: 5
diff --git a/yaml/test_laser_processor.yaml b/yaml/test_laser_processor.yaml
index fa2d98e94d6d031d86ad80300781d72d09e68036..bee6cc8ec51e1beacdc48353a0c7d31f520de9f7 100644
--- a/yaml/test_laser_processor.yaml
+++ b/yaml/test_laser_processor.yaml
@@ -3,7 +3,7 @@ keyframe_vote:
min_features_for_keyframe: 10
min_dist: 999
min_angle: 999
- min_time: 0.1
+ min_time: 0.5
min_error: 999
max_points: 0
max_new_features: 15
diff --git a/yaml/test_publisher_ros_node.yaml b/yaml/test_publisher_ros_node.yaml
index a3e37459266db719cbea053e906bc686d902fec3..4c8807a5e3eb9081f7e36665f33cc2fa718ef1ff 100644
--- a/yaml/test_publisher_ros_node.yaml
+++ b/yaml/test_publisher_ros_node.yaml
@@ -1,4 +1,6 @@
map_frame_id: "map"
-odom_frame_id: "ana/odom"
-base_frame_id: "ana/base_footprint"
+# odom_frame_id: "ana/odom"
+# base_frame_id: "ana/base_footprint"
+odom_frame_id: "helena/odom"
+base_frame_id: "helena/base_footprint"
publish_odom_tf: false