diff --git a/launch/imu2d_analysys.launch b/launch/imu2d_analysys.launch
index 08308ba326a903503f66be2121dadccff87b5d02..f1f9b703a9356887c1de69688718301858ce13f8 100644
--- a/launch/imu2d_analysys.launch
+++ b/launch/imu2d_analysys.launch
@@ -23,8 +23,7 @@
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"
+ "/wolf_ros_node/odom_icp"
"/imu_micro_bias_accel"
"/imu_micro_bias_gyro"
"/imu_micro_pose_from_origin"'/>
diff --git a/rviz/imu2d_demo_ana.rviz b/rviz/imu2d_demo_ana.rviz
index 7caf7f1f9c7b57f9cf197cc8187134ebd216f020..e61b151fbbb3d5674fb709fd833897c8c591355a 100644
--- a/rviz/imu2d_demo_ana.rviz
+++ b/rviz/imu2d_demo_ana.rviz
@@ -8,16 +8,10 @@ Panels:
- /TF1/Frames1
- /TF1/Tree1
- /Odometry1/Shape1
- - /Landmarks1
- - /Factors1
- /Factors1/Namespaces1
- - /Trajectory1
- /Trajectory1/Namespaces1
- - /Axes1
- - /PointCloud21
- - /Imu1
Splitter Ratio: 0.708737850189209
- Tree Height: 725
+ Tree Height: 839
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@@ -63,50 +57,20 @@ Visualization Manager:
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
- Enabled: true
+ Enabled: false
Frame Timeout: 15
Frames:
All Enabled: false
- ana/base_footprint:
- Value: false
- ana/base_footprint_robot:
- Value: false
- ana/base_link:
- Value: false
- ana/imu_bno055:
- Value: false
- ana/imu_microstrain:
- Value: false
- ana/odom:
- Value: true
- ana/velodyne:
- 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/imu_bno055:
- {}
- ana/imu_microstrain:
- {}
- ana/velodyne:
- {}
- imu:
- {}
- ana/base_footprint_robot:
- {}
+ {}
Update Interval: 0
- Value: true
+ Value: false
- Angle Tolerance: 0.10000000149011612
Class: rviz/Odometry
Covariance:
@@ -128,6 +92,7 @@ Visualization Manager:
Keep: 300
Name: Odometry
Position Tolerance: 0.10000000149011612
+ Queue Size: 10
Shape:
Alpha: 1
Axes Length: 1
@@ -198,12 +163,14 @@ Visualization Manager:
{}
Queue Size: 100
Value: false
- - Class: rviz/Axes
+ - 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
@@ -249,6 +216,7 @@ Visualization Manager:
Enabled: true
History Length: 1
Name: Imu
+ Queue Size: 10
Topic: /imu_micro_remapped
Unreliable: false
Value: true
@@ -286,6 +254,7 @@ Visualization Manager:
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
+ Field of View: 0.7853981852531433
Focal Point:
X: 2.3574845790863037
Y: -1.3090972900390625
@@ -295,10 +264,9 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
- Pitch: 0.5097973346710205
+ Pitch: 0.2547972500324249
Target Frame: map
- Value: Orbit (rviz)
- Yaw: 4.688166618347168
+ Yaw: 4.588164329528809
Saved:
- Angle: 0
Class: rviz/TopDownOrtho
@@ -312,7 +280,6 @@ Visualization Manager:
Near Clip Distance: 0.009999999776482582
Scale: 64.65961456298828
Target Frame: map
- Value: TopDownOrtho (rviz)
X: 8.825014114379883
Y: -0.17566636204719543
- Angle: 0
@@ -327,7 +294,6 @@ 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
@@ -342,16 +308,15 @@ 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: 1022
+ Height: 1136
Hide Left Dock: false
Hide Right Dock: true
- QMainWindow State: 000000ff00000000fd00000004000000000000020500000360fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000360000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006900000003efc0100000002fb0000000800540069006d0065010000000000000690000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004850000036000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ QMainWindow State: 000000ff00000000fd000000040000000000000205000003d2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003d2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007420000003efc0100000002fb0000000800540069006d0065010000000000000742000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000537000003d200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@@ -360,6 +325,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: true
- Width: 1680
- X: 1920
- Y: 0
+ Width: 1858
+ X: 62
+ Y: 27
diff --git a/yaml/trajectory_analysys/E.yaml b/yaml/trajectory_analysys/E.yaml
index 78be236f694a44563443c4c8cc88c1c96fd79f5d..362381fed2587afd29c3902083917662a70b14fd 100644
--- a/yaml/trajectory_analysys/E.yaml
+++ b/yaml/trajectory_analysys/E.yaml
@@ -21,13 +21,9 @@ config:
V: [0,0]
time_tolerance: 0.1
node_rate: 100
- map:
- type: "MapBase"
- plugin: "core"
solver:
follow: "parameters/solver.yaml"
-
sensors:
-
@@ -118,34 +114,34 @@ config:
topic: "graph"
period: 1
viz_overlapped_factors: true
- -
- package: "wolf_ros_node"
- type: "PublisherTrajectory"
- topic: "trajectory"
- period: 1
- frame_id: "map"
+ # -
+ # package: "wolf_ros_node"
+ # type: "PublisherTrajectory"
+ # topic: "trajectory"
+ # period: 1
+ # frame_id: "map"
-
package: "wolf_ros_node"
type: "PublisherPose"
topic: "pose"
extrinsics: false
- period: 0.01
+ period: 0.1
frame_id: "map"
- -
- 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
-
package: "wolf_ros_laser"
type: "PublisherOdomIcp"
diff --git a/yaml/trajectory_analysys/T.yaml b/yaml/trajectory_analysys/T.yaml
index eddf3814e247c4243ed4c12187a5e7278f9131a5..9632b31b704f5cfc5e78fa4c0a7d4dfa7ebc33f9 100644
--- a/yaml/trajectory_analysys/T.yaml
+++ b/yaml/trajectory_analysys/T.yaml
@@ -25,13 +25,9 @@ config:
V: [0.01, 0.01, 0.01]
time_tolerance: 0.1
node_rate: 100
- map:
- type: "MapBase"
- plugin: "core"
solver:
follow: "parameters/solver.yaml"
-
sensors:
-
@@ -118,7 +114,7 @@ config:
type: "PublisherPose"
topic: "pose"
extrinsics: false
- period: 0.01
+ period: 0.1
frame_id: "map"
# -
# package: "wolf_ros_laser"
@@ -135,4 +131,10 @@ config:
# p_free_th: 0.2
# p_obst_th: 0.9
# discard_max_range: true
+ -
+ package: "wolf_ros_laser"
+ type: "PublisherOdomIcp"
+ topic: "odom_icp"
+ period: 0.1
+ processor_name: "processorodomicp"