diff --git a/launch/imu2d_demo.launch b/launch/imu2d_demo.launch
index ce4520c3193fd942f72ca6b47be0c90e98f2668f..505116d380dfbfc388f71599648aaf8eb8323203 100644
--- a/launch/imu2d_demo.launch
+++ b/launch/imu2d_demo.launch
@@ -12,27 +12,28 @@
<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 -->
- <node pkg="rostopic" type="rostopic" name="" args='pub /ana/sensors/bno055_imu/imu/topic_enable std_msgs/Bool "data: True"'/>
+ <node pkg="rostopic" type="rostopic" name="" args='pub /helena/sensors/bno055_imu/imu/topic_enable std_msgs/Bool "data: True"'/>
+ <node pkg="rosbag" type="record" name="recorder" args='record -O $(find wolf_demo_imu2d)/bag/trajectory_recording.bag -e "(.*)wolf_ros_node(.*)"'/>
<node pkg="tf"
type="static_transform_publisher"
name="static_tf"
- args="0 0 0 0 0 0 /helena/base_footprint /helena/base_link 100"/>
+ args="0 0 0 0 0 0 /ana/base_footprint /ana/base_link 100"/>
<node pkg="tf"
type="static_transform_publisher"
name="static_tf2"
- args="0 0 0 0 0 0 /helena/base_link /helena/imu_bno055 100"/>
+ args="0 0 0 0 0 0 /ana/base_link /ana/imu_bno055 100"/>
<node pkg="tf"
type="static_transform_publisher"
name="static_tf3"
- args="0 0 0 3.14159265 0 0 /helena/base_link /helena/velodyne 100"/>
+ args="0 0 0 3.14159265 0 0 /ana/base_link /ana/velodyne 100"/>
<node pkg="tf"
type="static_transform_publisher"
name="static_tf4"
- args="-0.11 0.01 0 0 0 0 /helena/base_link /helena/imu_microstrain 100"/>
+ args="-0.11 0.01 0 0 0 0 /ana/base_link /ana/imu_microstrain 100"/>
<node pkg="rosbag"
type="play"
diff --git a/rviz/imu2d_demo.rviz b/rviz/imu2d_demo.rviz
index 2de424efb9ccad0b5ad0d1e4a26f0fb3bd33e140..e1e2090e252d77b29f98ace7835b70e318240b28 100644
--- a/rviz/imu2d_demo.rviz
+++ b/rviz/imu2d_demo.rviz
@@ -6,6 +6,7 @@ Panels:
Expanded:
- /Global Options1
- /TF1
+ - /TF1/Frames1
- /TF1/Tree1
- /Odometry1/Shape1
- /LaserScan1
@@ -68,139 +69,40 @@ Visualization Manager:
Frame Timeout: 15
Frames:
All Enabled: false
- helena/base_footprint:
- Value: true
- helena/base_link:
- Value: true
- helena/camera_bottom_screw_frame:
- Value: true
- helena/camera_color_frame:
- Value: true
- helena/camera_color_optical_frame:
- Value: true
- helena/camera_depth_frame:
- Value: true
- helena/camera_depth_optical_frame:
- Value: true
- helena/camera_infra1_frame:
- Value: true
- helena/camera_infra1_optical_frame:
- Value: true
- helena/camera_infra2_frame:
- Value: true
- helena/camera_infra2_optical_frame:
- Value: true
- helena/camera_link:
- Value: true
- helena/front_left_axle:
- Value: true
- helena/front_left_hub:
- Value: true
- helena/front_left_wheel:
- Value: true
- helena/front_right_axle:
- Value: true
- helena/front_right_hub:
- Value: true
- helena/front_right_wheel:
- Value: true
- helena/front_sonar:
- Value: true
- helena/helena_box:
- Value: true
- helena/helena_realsense_support:
- Value: true
- helena/imu_bno055:
- Value: true
- helena/imu_bno055_base:
- Value: true
- helena/imu_microstrain:
- Value: true
- helena/odom:
- Value: true
- helena/rear_left_axle:
- Value: true
- helena/rear_left_hub:
- Value: true
- helena/rear_left_wheel:
- Value: true
- helena/rear_right_axle:
- Value: true
- helena/rear_right_hub:
- Value: true
- helena/rear_right_wheel:
- Value: true
- helena/rear_sonar:
- Value: true
- helena/robosense:
- Value: true
- helena/robosense_base:
- Value: true
- helena/top_plate:
+ ana/base_footprint:
+ Value: false
+ ana/base_footprint_robot:
+ Value: false
+ ana/base_link:
Value: true
- helena/velodyne:
+ ana/imu_bno055:
+ Value: false
+ ana/imu_microstrain:
+ Value: false
+ ana/odom:
Value: true
+ ana/velodyne:
+ Value: false
map:
Value: false
- Marker Scale: 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_bno055:
- {}
- helena/imu_microstrain:
+ ana/odom:
+ ana/base_footprint:
+ ana/base_link:
+ ana/imu_bno055:
{}
- 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:
- {}
- helena/velodyne:
+ ana/velodyne:
{}
- helena/imu_bno055_base:
- {}
+ ana/base_footprint_robot:
+ {}
Update Interval: 0
Value: true
- Angle Tolerance: 0.10000000149011612
@@ -248,7 +150,7 @@ Visualization Manager:
Class: rviz/LaserScan
Color: 250; 84; 255
Color Transformer: FlatColor
- Decay Time: 100
+ Decay Time: 10
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
@@ -260,7 +162,7 @@ Visualization Manager:
Size (Pixels): 3
Size (m): 0.05999999865889549
Style: Flat Squares
- Topic: /helena/sensors/scan
+ Topic: /ana/sensors/scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
@@ -278,10 +180,14 @@ 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
@@ -302,7 +208,7 @@ Visualization Manager:
Length: 1
Name: Axes
Radius: 0.10000000149011612
- Reference Frame: helena/base_link
+ Reference Frame: ana/base_link
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
@@ -342,13 +248,13 @@ Visualization Manager:
Unreliable: false
Use Timestamp: false
Value: false
- - Alpha: 1
+ - Alpha: 0.5
Class: rviz_plugin_tutorials/Imu
Color: 204; 51; 204
Enabled: true
History Length: 1
Name: Imu
- Topic: /helena/sensors/imu/data
+ Topic: /ana/imu/data_remapped
Unreliable: false
Value: true
Enabled: true
@@ -379,16 +285,16 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
- Distance: 25.464996337890625
+ Distance: 27.63036346435547
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
- X: 5.9762163162231445
- Y: 1.321905493736267
- Z: -1.1534262895584106
+ X: 2.3574845790863037
+ Y: -1.3090972900390625
+ Z: -0.7893345952033997
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
diff --git a/yaml/csm_inactive.yaml b/yaml/csm_inactive.yaml
index b5336a90b5dad444b2bfd9d946582ab8d987cfc1..4ea66701ad3a5dfc836c70f988b99d7db48bba60 100644
--- a/yaml/csm_inactive.yaml
+++ b/yaml/csm_inactive.yaml
@@ -42,6 +42,4 @@ sigma: 0.2 # Noise of the scan
# COVARIANCE
do_compute_covariance: true
-cov_factor: 5 # Factor multiplying the cov output of csm
-
cov_factor: 9999999999999999999999
diff --git a/yaml/imu2d_test0.yaml b/yaml/imu2d_test0.yaml
index c34ae67c4908f2497ab4c883a0458c95b8b4678b..55047623dd95efdc7426372e1e7fb807c2f829b4 100644
--- a/yaml/imu2d_test0.yaml
+++ b/yaml/imu2d_test0.yaml
@@ -2,7 +2,7 @@ config:
debug:
profiling: true
profiling_file: "~/wolf_demo_profiling_imu2d_test0.txt"
- print_problem: true
+ print_problem: false
print_period: 2
print_depth: 4
print_constr_by: false
@@ -42,12 +42,32 @@ 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: "/helena/sensors/scan"
+ topic: "/ana/sensors/scan"
sensor_name: "scanner_front_left"
load_params_from_msg: true
@@ -64,6 +84,13 @@ config:
topic: "graph"
period: 1
viz_overlapped_factors: true
+ -
+ package: "wolf_ros_node"
+ type: "PublisherPose"
+ topic: "pose"
+ period: 1
+ extrinsics: false
+ frame_id: "map"
-
package: "wolf_ros_laser"
type: "PublisherLaserMap"
diff --git a/yaml/imu2d_test1.yaml b/yaml/imu2d_test1.yaml
index 2422ded5b82ee42aedaef634cf62502b392fc1f1..5ae135605b12c4b40f448ce85b8fb59f6a4e70e0 100644
--- a/yaml/imu2d_test1.yaml
+++ b/yaml/imu2d_test1.yaml
@@ -2,7 +2,7 @@ config:
debug:
profiling: true
profiling_file: "~/wolf_demo_profiling_imu2d_test1.txt"
- print_problem: true
+ print_problem: false
print_period: 2
print_depth: 4
print_constr_by: false
@@ -39,16 +39,16 @@ config:
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: "bno"
+ plugin: "imu"
+ follow: "test_imu_params_bno.yaml"
-
type: "SensorImu2d"
name: "microstrain"
plugin: "imu"
- follow: "test_imu_params.yaml"
+ follow: "test_imu_params_microstrain.yaml"
processors:
-
@@ -63,39 +63,62 @@ config:
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: "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"
+ -
+ type: "ProcessorImu2d"
+ name: "processorimu2dbno"
+ sensor_name: "bno"
+ plugin: "imu"
+ follow: "test_imu_processor_bno.yaml"
-
type: "ProcessorImu2d"
name: "processorimu2dmicro"
sensor_name: "microstrain"
plugin: "imu"
- follow: "test_imu_processor.yaml"
+ follow: "test_imu_processor_microstrain.yaml"
ROS subscriber:
-
package: "wolf_ros_node"
type: "SubscriberOdom2d"
- topic: "/helena/odom"
+ topic: "/ana/odom"
sensor_name: "odom2d"
-
package: "wolf_ros_laser"
type: "SubscriberLaser2d"
- topic: "/helena/sensors/scan"
+ topic: "/ana/sensors/scan"
sensor_name: "scanner_front_left"
load_params_from_msg: true
-
package: "wolf_ros_imu"
type: "SubscriberImuEnableable"
- #topic: "/helena/sensors/bno055_imu/imu"
- #sensor_name: "bno"
- topic: "/helena/sensors/imu/data"
+ topic: "/ana/sensors/bno055_imu/imu"
+ sensor_name: "bno"
+ follow: "test_imu_subscriber_bno.yaml"
+ -
+ package: "wolf_ros_imu"
+ type: "SubscriberImuEnableable"
+ topic: "/ana/imu/data"
sensor_name: "microstrain"
- follow: "test_imu_subscriber.yaml"
+ follow: "test_imu_subscriber_microstrain.yaml"
ROS publisher:
-
diff --git a/yaml/imu2d_test5.yaml b/yaml/imu2d_test5.yaml
index 2546db51174ac3caf7269eeeb256bdfc0e96d40b..e5243d495e55027d44897e6e23626e7d2fc9de0a 100644
--- a/yaml/imu2d_test5.yaml
+++ b/yaml/imu2d_test5.yaml
@@ -1,9 +1,13 @@
config:
debug:
profiling: true
- profiling_file: "~/wolf_demo_profiling_imu2d_test1.txt"
- print_problem: true
- print_period: 5
+ profiling_file: "~/wolf_demo_profiling_imu2d_test5.txt"
+ print_problem: false
+ print_period: 2
+ print_depth: 4
+ print_constr_by: false
+ print_metric: true
+ print_state_blocks: true
problem:
tree_manager:
type: "none"
@@ -16,14 +20,14 @@ config:
O: [0]
V: [0,0]
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:
-
@@ -35,12 +39,12 @@ config:
type: "SensorImu2d"
name: "bno"
plugin: "imu"
- follow: "test_imu_params.yaml"
+ follow: "test_imu_params_bno.yaml"
-
type: "SensorImu2d"
name: "microstrain"
plugin: "imu"
- follow: "test_imu_params.yaml"
+ follow: "test_imu_params_microstrain.yaml"
processors:
-
@@ -49,18 +53,37 @@ 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"
-
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"
+ follow: "test_imu_processor_bno.yaml"
+ -
+ type: "ProcessorImu2d"
+ name: "processorimu2dmicro"
+ sensor_name: "microstrain"
+ plugin: "imu"
+ follow: "test_imu_processor_microstrain.yaml"
ROS subscriber:
-
@@ -72,11 +95,15 @@ config:
-
package: "wolf_ros_imu"
type: "SubscriberImuEnableable"
- topic: "/ana/sensors/bno055_imu/imu"
+ topic: "/ana/sensors/bno055_imu/imumal"
sensor_name: "bno"
- #topic: "/ana/imu/data"
- #sensor_name: "microstrain"
- follow: "test_imu_subscriber.yaml"
+ follow: "test_imu_subscriber_bno.yaml"
+ -
+ package: "wolf_ros_imu"
+ type: "SubscriberImuEnableable"
+ topic: "/ana/imu/data"
+ sensor_name: "microstrain"
+ follow: "test_imu_subscriber_microstrain.yaml"
ROS publisher:
-
diff --git a/yaml/test_imu_params.yaml b/yaml/test_imu_params.yaml
deleted file mode 100644
index 9a08c32fa9b924502494ba43f614840a368e10f5..0000000000000000000000000000000000000000
--- a/yaml/test_imu_params.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-##bno
-#extrinsic:
-# pose: [0,0,0]
-#a_noise: 0.096 #best: 0.96
-#w_noise: 0.02
-#ab_initial_stdev: 5 # m/s2 - initial bias
-#wb_initial_stdev: 1 # rad/sec - initial bias
-#ab_rate_stdev: 0.0001 # m/s2/sqrt(s)
-#wb_rate_stdev: 0.0001 # rad/s/sqrt(s)
-#orthogonal_gravity: true
-#microstrain
-extrinsic:
- pose: [0,0,0]
-a_noise: 0.900
-w_noise: 0.01
-ab_initial_stdev: 0.5 # m/s2 - initial bias
-wb_initial_stdev: 0.1 # rad/sec - initial bias
-ab_rate_stdev: 0.0001 # m/s2/sqrt(s)
-wb_rate_stdev: 0.0001 # rad/s/sqrt(s)
-orthogonal_gravity: false
diff --git a/yaml/test_imu_params_bno.yaml b/yaml/test_imu_params_bno.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a958a695eaa28b8cc4973f233b09f19e7b3bef33
--- /dev/null
+++ b/yaml/test_imu_params_bno.yaml
@@ -0,0 +1,10 @@
+#bno
+extrinsic:
+ pose: [0,0,0]
+a_noise: 0.096 #best: 0.96
+w_noise: 0.02
+ab_initial_stdev: 5 # m/s2 - initial bias
+wb_initial_stdev: 1 # rad/sec - initial bias
+ab_rate_stdev: 0.0001 # m/s2/sqrt(s)
+wb_rate_stdev: 0.0001 # rad/s/sqrt(s)
+orthogonal_gravity: true
diff --git a/yaml/test_imu_params_microstrain.yaml b/yaml/test_imu_params_microstrain.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..05b747ba2880c81b3bbe7232eb74815675a7ee3c
--- /dev/null
+++ b/yaml/test_imu_params_microstrain.yaml
@@ -0,0 +1,10 @@
+#microstrain
+extrinsic:
+ pose: [0,0,0]
+a_noise: 0.9 #0.9
+w_noise: 0.01 #0.01
+ab_initial_stdev: 0.05 # m/s2 - initial bias
+wb_initial_stdev: 0.01 # rad/sec - initial bias
+ab_rate_stdev: 0.00001 # m/s2/sqrt(s)
+wb_rate_stdev: 0.00001 # rad/s/sqrt(s)
+orthogonal_gravity: true
diff --git a/yaml/test_imu_processor_bno.yaml b/yaml/test_imu_processor_bno.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..79f6f5001b813bf2d55f53b424359930cb160594
--- /dev/null
+++ b/yaml/test_imu_processor_bno.yaml
@@ -0,0 +1,12 @@
+time_tolerance: 0.008 #Half the sample time, bno
+unmeasured_perturbation_std: 0.1
+keyframe_vote:
+ voting_active: false
+ max_time_span: 1
+ max_buff_length: 1000000
+ dist_traveled: 10
+ angle_turned: 3.14
+state_getter: true
+state_priority: 1
+apply_loss_function: false
+use_gravity_grid: false
diff --git a/yaml/test_imu_processor.yaml b/yaml/test_imu_processor_microstrain.yaml
similarity index 81%
rename from yaml/test_imu_processor.yaml
rename to yaml/test_imu_processor_microstrain.yaml
index 139d89138681b11cd5fff4d2fb600b563cc852a0..7ab3a8eef1ea08955e2b999fda99120f14da1507 100644
--- a/yaml/test_imu_processor.yaml
+++ b/yaml/test_imu_processor_microstrain.yaml
@@ -1,4 +1,3 @@
-#time_tolerance: 0.008 #Half the sample time, bno
time_tolerance: 0.005 #Half the sample time, microstrain
unmeasured_perturbation_std: 0.1
keyframe_vote:
@@ -8,6 +7,6 @@ keyframe_vote:
dist_traveled: 10
angle_turned: 3.14
state_getter: true
-state_priority: 1
+state_priority: 0
apply_loss_function: false
use_gravity_grid: false
diff --git a/yaml/test_imu_subscriber.yaml b/yaml/test_imu_subscriber.yaml
deleted file mode 100644
index 8aa2403f6c288b9256abe8cd33a86f22b090d6f1..0000000000000000000000000000000000000000
--- a/yaml/test_imu_subscriber.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-##bno:
-#dt: 0.016
-#imu_x_axis: 3
-#imu_y_axis: -2
-#imu_z_axis: 1
-#cov_source: "sensor"
-#in_degrees: true
-#microstrain:
-dt: 0.01
-imu_x_axis: 1
-imu_y_axis: -2
-imu_z_axis: -3
-cov_source: "sensor"
-in_degrees: false
-
-#all
-topic_enable: "/ana/sensors/bno055_imu/imu/topic_enable"
-static_init_duration: 1
-lowpass_filter: true
-lowpass_cutoff_freq: 5
diff --git a/yaml/test_imu_subscriber_bno.yaml b/yaml/test_imu_subscriber_bno.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..34e3cf7f9c4c37df9bb107fb8d9b7d4763ba0c47
--- /dev/null
+++ b/yaml/test_imu_subscriber_bno.yaml
@@ -0,0 +1,13 @@
+#bno:
+dt: 0.016
+imu_x_axis: 3
+imu_y_axis: -2
+imu_z_axis: 1
+cov_source: "sensor"
+in_degrees: true
+
+#all
+topic_enable: "/helena/sensors/bno055_imu/imu/topic_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
new file mode 100644
index 0000000000000000000000000000000000000000..7c747b9d2dc4907c1128084f2929cc34a8c10542
--- /dev/null
+++ b/yaml/test_imu_subscriber_microstrain.yaml
@@ -0,0 +1,13 @@
+#microstrain:
+dt: 0.01
+imu_x_axis: 1
+imu_y_axis: -2
+imu_z_axis: -3
+cov_source: "sensor"
+in_degrees: false
+
+#all
+topic_enable: "/helena/sensors/bno055_imu/imu/topic_enable"
+static_init_duration: 3
+lowpass_filter: true
+lowpass_cutoff_freq: 5
diff --git a/yaml/test_laser_processor.yaml b/yaml/test_laser_processor.yaml
index ae63e5c449a9c38b02edfae415b5aab12d67e98b..c10e2a5142e4684d8de228893a3093a8ff2e5dcd 100644
--- a/yaml/test_laser_processor.yaml
+++ b/yaml/test_laser_processor.yaml
@@ -13,4 +13,4 @@ time_tolerance: 0.05 #Half the sample time
state_getter: true
state_priority: 10
apply_loss_function: false
-initial_guess: "state"
+initial_guess: "zero"
diff --git a/yaml/test_publisher_ros_node.yaml b/yaml/test_publisher_ros_node.yaml
index b4abe64574d3775edbfa5182497f268a82947ac4..a3e37459266db719cbea053e906bc686d902fec3 100644
--- a/yaml/test_publisher_ros_node.yaml
+++ b/yaml/test_publisher_ros_node.yaml
@@ -1,4 +1,4 @@
map_frame_id: "map"
-odom_frame_id: "helena/odom"
-base_frame_id: "helena/base_footprint"
+odom_frame_id: "ana/odom"
+base_frame_id: "ana/base_footprint"
publish_odom_tf: false