diff --git a/launch/imu2d_demo.launch b/launch/imu2d_demo.launch
index 22392b14c01d96474ea7160f5d24ffb6ed870e3e..7d5a13654a7adbe5cc9118419e018df7f1f44b17 100644
--- a/launch/imu2d_demo.launch
+++ b/launch/imu2d_demo.launch
@@ -12,27 +12,27 @@
<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="tf"
type="static_transform_publisher"
name="static_tf"
- args="0 0 0 0 0 0 /ana/base_footprint /ana/base_link 100"/>
+ args="0 0 0 0 0 0 /helena/base_footprint /helena/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"/>
+ args="0 0 0 0 0 0 /helena/base_link /helena/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"/>
+ args="0 0 0 3.14159265 0 0 /helena/base_link /helena/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"/>
+ args="-0.11 0.01 0 0 0 0 /helena/base_link /helena/imu_microstrain 100"/>
<node pkg="rosbag"
type="play"
diff --git a/rviz/imu2d_demo.rviz b/rviz/imu2d_demo.rviz
index 1141bab5157198a3b78cd07fb9f274e7874cf246..947506c5c96f62226c02d7cbea8512bb08725351 100644
--- a/rviz/imu2d_demo.rviz
+++ b/rviz/imu2d_demo.rviz
@@ -6,19 +6,19 @@ Panels:
Expanded:
- /Global Options1
- /TF1
- - /TF1/Frames1
- /TF1/Tree1
- /Odometry1/Shape1
- /LaserScan1
- /Landmarks1
- /Factors1
+ - /Factors1/Status1
- /Factors1/Namespaces1
- /Trajectory1
- /Trajectory1/Namespaces1
- /Axes1
- /PointCloud21
- /Imu1
- Splitter Ratio: 0.6038647294044495
+ Splitter Ratio: 0.5285326242446899
Tree Height: 728
- Class: rviz/Selection
Name: Selection
@@ -69,28 +69,78 @@ Visualization Manager:
Frame Timeout: 15
Frames:
All Enabled: false
- ana/base_footprint:
+ helena/base_footprint:
Value: true
- ana/base_footprint_robot:
- Value: false
- ana/base_link:
- Value: false
- ana/front_left_axle:
- Value: false
- ana/front_right_axle:
- Value: false
- ana/imu_bno055:
- Value: false
- ana/imu_microstrain:
- Value: false
- ana/odom:
+ 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:
+ Value: true
+ helena/velodyne:
Value: true
- ana/rear_left_axle:
- Value: false
- ana/rear_right_axle:
- Value: false
- ana/velodyne:
- Value: false
map:
Value: false
Marker Scale: 1
@@ -100,25 +150,58 @@ Visualization Manager:
Show Names: true
Tree:
map:
- ana/odom:
- ana/base_footprint:
- ana/base_link:
- ana/front_left_axle:
- {}
- ana/front_right_axle:
+ 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:
{}
- ana/imu_bno055:
+ helena/imu_bno055:
{}
- ana/imu_microstrain:
+ helena/imu_microstrain:
{}
- ana/rear_left_axle:
+ 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/rear_right_axle:
+ 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:
- {}
- ana/base_footprint_robot:
- {}
+ helena/imu_bno055_base:
+ {}
Update Interval: 0
Value: true
- Angle Tolerance: 0.10000000149011612
@@ -167,7 +250,7 @@ Visualization Manager:
Color: 250; 84; 255
Color Transformer: FlatColor
Decay Time: 100
- Enabled: false
+ Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
@@ -178,11 +261,11 @@ Visualization Manager:
Size (Pixels): 3
Size (m): 0.05999999865889549
Style: Flat Squares
- Topic: /ana/sensors/scan
+ Topic: /helena/sensors/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
@@ -196,30 +279,27 @@ Visualization Manager:
Marker Topic: /wolf_ros_node/graph_factors
Name: Factors
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
Value: true
- Class: rviz/MarkerArray
- Enabled: false
+ Enabled: true
Marker Topic: /wolf_ros_node/graph_trajectory
Name: Trajectory
Namespaces:
- {}
+ frames: true
+ frames_text: true
Queue Size: 100
- Value: false
+ Value: true
- Class: rviz/Axes
Enabled: true
Length: 1
Name: Axes
Radius: 0.10000000149011612
- Reference Frame: ana/base_link
+ Reference Frame: helena/base_link
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
@@ -262,12 +342,12 @@ Visualization Manager:
- Alpha: 1
Class: rviz_plugin_tutorials/Imu
Color: 204; 51; 204
- Enabled: false
+ Enabled: true
History Length: 1
Name: Imu
- Topic: /ana/imu/data_remapped
+ Topic: /helena/sensors/bno055_imu/imu_remapped
Unreliable: false
- Value: false
+ Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
@@ -296,25 +376,25 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
- Distance: 14.700403213500977
+ Distance: 25.464996337890625
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
- X: 2.423039674758911
- Y: -1.9012470245361328
- Z: 1.0024703741073608
+ X: 0.7309823632240295
+ Y: -0.0005876626819372177
+ Z: 1.5242977142333984
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
- Pitch: 0.5947971940040588
+ Pitch: 0.7247968912124634
Target Frame: map
Value: Orbit (rviz)
- Yaw: 4.008172988891602
+ Yaw: 5.4131693840026855
Saved:
- Angle: 0
Class: rviz/TopDownOrtho
@@ -367,7 +447,7 @@ Window Geometry:
Height: 1025
Hide Left Dock: false
Hide Right Dock: true
- QMainWindow State: 000000ff00000000fd00000004000000000000027f00000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004b80000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ QMainWindow State: 000000ff00000000fd0000000400000000000002e200000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004550000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
diff --git a/yaml/imu2d_test1.yaml b/yaml/imu2d_test1.yaml
index b1c8aa72f7f7c4f1a709eb1505fbecf25562d2ab..b674e10644b8d88ce3176dfb00c4efa2f711f664 100644
--- a/yaml/imu2d_test1.yaml
+++ b/yaml/imu2d_test1.yaml
@@ -49,16 +49,16 @@ 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"
+ name: "microstrain"
plugin: "imu"
follow: "test_imu_params.yaml"
- #-
- # type: "SensorImu2d"
- # name: "microstrain"
- # plugin: "imu"
- # follow: "test_imu_params.yaml"
processors:
-
@@ -73,38 +73,38 @@ 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: "ProcessorImu2d"
- name: "processorimu2dbno"
- sensor_name: "bno"
+ name: "processorimu2dmicro"
+ sensor_name: "microstrain"
plugin: "imu"
follow: "test_imu_processor.yaml"
- #-
- # type: "ProcessorImu2d"
- # name: "processorimu2dmicro"
- # sensor_name: "microstrain"
- # plugin: "imu"
- # follow: "test_imu_processor.yaml"
ROS subscriber:
-
package: "wolf_ros_node"
type: "SubscriberOdom2d"
- topic: "/ana/odom"
+ topic: "/helena/odom"
sensor_name: "odom2d"
-
package: "wolf_ros_laser"
type: "SubscriberLaser2d"
- topic: "/ana/sensors/scan"
+ topic: "/helena/sensors/scan"
sensor_name: "scanner_front_left"
load_params_from_msg: true
-
package: "wolf_ros_imu"
type: "SubscriberImuEnableable"
- topic: "/ana/sensors/bno055_imu/imu"
- sensor_name: "bno"
- #topic: "/ana/imu/data"
- #sensor_name: "microstrain"
+ #topic: "/helena/sensors/bno055_imu/imu"
+ #sensor_name: "bno"
+ topic: "/helena/sensors/imu/data"
+ sensor_name: "microstrain"
follow: "test_imu_subscriber.yaml"
ROS publisher:
diff --git a/yaml/imu2d_test7.yaml b/yaml/imu2d_test7.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b0fa2cbc4d3ae2b5a9d97cac4b808db1a2374c53
--- /dev/null
+++ b/yaml/imu2d_test7.yaml
@@ -0,0 +1,129 @@
+config:
+ debug:
+ profiling: true
+ profiling_file: "~/wolf_demo_profiling_imu2d_test7.txt"
+ print_problem: false
+ print_period: 5
+ print_depth: 4
+ print_constr_by: false
+ print_metric: true
+ print_state_blocks: true
+ problem:
+ tree_manager:
+ type: "none"
+ frame_structure: "POV"
+ dimension: 2
+ prior:
+ mode: "fix"
+ $state:
+ P: [0,0]
+ O: [0]
+ V: [0,0]
+ time_tolerance: 0.1
+ node_rate: 100
+ map:
+ type: "MapBase"
+ plugin: "core"
+
+ solver:
+ max_num_iterations: 10
+ verbose: 0
+ period: 0
+ update_immediately: false
+ n_threads: 2
+ compute_cov: false
+ function_tolerance: 1e-6
+ gradient_tolerance: 1e-6
+ minimizer: "LEVENBERG_MARQUARDT"
+ use_nonmonotonic_steps: False
+ max_consecutive_nonmonotonic_steps: 10
+
+ sensors:
+ -
+ type: "SensorLaser2d"
+ name: "scanner_front_left"
+ plugin: "laser"
+ follow: "test_laser_params.yaml"
+ -
+ type: "SensorGnss"
+ name: "gnss"
+ plugin: "gnss"
+ follow: "test_gnss_params.yaml"
+
+ processors:
+ -
+ type: "ProcessorOdomIcp"
+ name: "processorodomicp"
+ sensor_name: "scanner_front_left"
+ plugin: "laser"
+ follow: "test_laser_processor.yaml"
+ -
+ type: "ProcessorTrackerGnss"
+ name: "processorgnss"
+ sensor_name: "gnss"
+ plugin: "gnss"
+ follow: "test_gnss_processor.yaml"
+
+ ROS subscriber:
+ -
+ package: "wolf_ros_node"
+ type: "SubscriberOdom2d"
+ topic: "/helena/odom"
+ sensor_name: "odom2d"
+ -
+ package: "wolf_ros_laser"
+ type: "SubscriberLaser2d"
+ topic: "/helena/sensors/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"
+ sensor_name: "gnss"
+ follow: "test_subscriber_gnss.yaml"
+
+ ROS publisher:
+ -
+ package: "wolf_ros_node"
+ type: "PublisherTf"
+ topic: " "
+ period: 0.1
+ follow: "test_publisher_ros_node.yaml"
+ -
+ package: "wolf_ros_node"
+ type: "PublisherGraph"
+ topic: "graph"
+ period: 1
+ viz_overlapped_factors: true
+ -
+ package: "wolf_ros_node"
+ type: "PublisherPose"
+ topic: "current_pose"
+ marker_color: [1,0,0,1]
+ period: 0.01
+ extrinsics: false
+ frame_id: "ENU"
+ -
+ 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_gnss"
+ type: "PublisherGnssTf"
+ topic: " "
+ period: 0.1
+ sensor_gnss_name: "gnss"
+
+
diff --git a/yaml/test_gnss_params.yaml b/yaml/test_gnss_params.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..34bf6392396adf18201431c10720ffbccbb03396
--- /dev/null
+++ b/yaml/test_gnss_params.yaml
@@ -0,0 +1,13 @@
+extrinsic:
+ pose: [0, 0, 0]
+extrinsics_fixed: true
+clock_bias_GPS_GLO_dynamic: false
+clock_bias_GPS_GAL_dynamic: false
+clock_bias_GPS_CMP_dynamic: false
+ENU:
+ mode: "auto"
+ roll_fixed: true
+ pitch_fixed: true
+ yaw_fixed: true
+ translation_fixed: true
+
diff --git a/yaml/test_gnss_processor.yaml b/yaml/test_gnss_processor.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1bbc9b1dcee724afb2a84b2e891325219fa7c416
--- /dev/null
+++ b/yaml/test_gnss_processor.yaml
@@ -0,0 +1,47 @@
+time_tolerance: 0.1
+apply_loss_function: false
+min_features_for_keyframe: 0 #4
+max_new_features: -1 #unlimited
+remove_outliers: true
+remove_outliers_with_fix: true
+outlier_residual_th: 10
+init_frames: false
+pseudo_ranges: true
+enu_map_fix_dist: 5
+fix: false
+keyframe_vote:
+ voting_active: true
+ max_time_span: 1
+ min_features_for_keyframe: 4
+gnss:
+ sateph: 6 # satellite ephemeris/clock: EPHOPT_BRDC(0):broadcast ephemeris, EPHOPT_PREC(1): precise ephemeris, EPHOPT_SBAS(2): broadcast + SBAS, EPHOPT_SSRAPC(3): broadcast + SSR_APC, EPHOPT_SSRCOM(4): broadcast + SSR_COM, EPHOPT_LEX(5): QZSS LEX ephemeris, EPHOPT_SBAS2(6):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), EPHOPT_SBAS3(7):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_SBAS2), EPHOPT_SBAS4(8):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_BRDC)
+ ionoopt: 9 # ionosphere option: IONOOPT_OFF(0):correction off, IONOOPT_BRDC(1):broadcast mode, IONOOPT_SBAS(2):SBAS model, IONOOPT_IFLC(3):L1/L2 or L1/L5, IONOOPT_EST(4):estimation, IONOOPT_TEC(5):IONEX TEC model, IONOOPT_QZS(6):QZSS broadcast, IONOOPT_LEX(7):QZSS LEX ionosphere, IONOOPT_STEC(8):SLANT TEC mode, IONOOPT_SBAS2(9):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), IONOOPT_SBAS3(10):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_SBAS2), IONOOPT_SBAS4(8):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_BRDC)
+ tropopt: 2 # troposphere option: (0:correction off,1:Saastamoinen model,2:SBAS model,3:troposphere option: ZTD estimation,4:ZTD+grad estimation,5:ZTD correction,6:ZTD+grad correction)
+ sbascorr: 15 # SBAS option (1:long term correction,2:fast correction,4:ionosphere correction,8:ranging)
+ raim: 1 # apply RAIM
+ elmin: 0.26 # elevation min (rad) = 15 degrees
+ maxgdop: 30 # reject threshold of gdop (ground dilusion of precision)
+ min_sbas_sats: 5 # used in case of EPHOPT_SBAS3, EPHOPT_SBAS4, IONOOPT_SBAS3, IONOOPT_SBAS4
+ constellations:
+ GPS: true
+ SBS: false
+ GLO: false
+ GAL: true
+ QZS: false
+ CMP: false
+ IRN: false
+ LEO: false
+ tdcp:
+ enabled: true
+ corr_iono: true
+ corr_tropo: true
+ corr_clock: true
+ loss_function: false
+ time_window: 100 # s
+ sigma_atm: 0.0016 # m/sqrt(s)
+ sigma_carrier: 0.0011 # m
+ multi_freq: false
+ remove_outliers: false
+ batch: false
+ structure: first-all
+
diff --git a/yaml/test_imu_params.yaml b/yaml/test_imu_params.yaml
index def81eeb85c4b81bfbcc4b8df44e1362961ff193..70f8799fa9290a55fc126a629ce3f728f10c1cde 100644
--- a/yaml/test_imu_params.yaml
+++ b/yaml/test_imu_params.yaml
@@ -1,20 +1,20 @@
-#bno
+##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: 0.096 #best: 0.96
-w_noise: 0.02
-ab_initial_stdev: 5 # m/s2 - initial bias
-wb_initial_stdev: 1 # rad/sec - initial bias
+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: 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: 0.00001 # m/s2/sqrt(s)
-#wb_rate_stdev: 0.00001 # rad/s/sqrt(s)
-#orthogonal_gravity: true
diff --git a/yaml/test_imu_processor.yaml b/yaml/test_imu_processor.yaml
index 9968f054bb3c92c47bc73b4bf49898231d5acb6e..dd3cdd5b2635b12639c4c5a3fe62b67f57ea319a 100644
--- a/yaml/test_imu_processor.yaml
+++ b/yaml/test_imu_processor.yaml
@@ -1,5 +1,5 @@
-time_tolerance: 0.008 #Half the sample time, bno
-# time_tolerance: 0.005 #Half the sample time, microstrain
+#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:
voting_active: true
diff --git a/yaml/test_laser_processor.yaml b/yaml/test_laser_processor.yaml
index 06847e9355446b14a201ee058fd0c5617f027897..d2aaceeee6da6c882b2965f3a7ef20989d812cf8 100644
--- a/yaml/test_laser_processor.yaml
+++ b/yaml/test_laser_processor.yaml
@@ -9,7 +9,7 @@ keyframe_vote:
max_new_features: 15
follow: "csm.yaml"
time_tolerance: 0.05 #Half the sample time
-state_getter: false
+state_getter: true
state_priority: 10
apply_loss_function: false
initial_guess: "state"
diff --git a/yaml/test_publisher_ros_node.yaml b/yaml/test_publisher_ros_node.yaml
index a3e37459266db719cbea053e906bc686d902fec3..b4abe64574d3775edbfa5182497f268a82947ac4 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: "ana/odom"
-base_frame_id: "ana/base_footprint"
+odom_frame_id: "helena/odom"
+base_frame_id: "helena/base_footprint"
publish_odom_tf: false
diff --git a/yaml/test_subscriber_gnss.yaml b/yaml/test_subscriber_gnss.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..971b0b7f06c7162428e76ef930d98202088ffbd0
--- /dev/null
+++ b/yaml/test_subscriber_gnss.yaml
@@ -0,0 +1,23 @@
+process_not_available: false
+reset_receiver: false
+publish_fix:
+enabled: true
+topic: "RTKLIB_fix"
+gnss_options:
+ sateph: 6 # satellite ephemeris/clock (0:broadcast ephemeris,1:precise ephemeris,2:broadcast + SBAS,3:ephemeris option: broadcast + SSR_APC,4:broadcast + SSR_COM,5: QZSS LEX ephemeris
+ ionoopt: 9 # ionosphere option (0:correction off,1:broadcast mode,2:SBAS model,3:L1/L2 or L1/L5,4:estimation,5:IONEX TEC model,6:QZSS broadcast,7:QZSS LEX ionosphere,8:SLANT TEC mode)
+ tropopt: 2 # troposphere option: (0:correction off,1:Saastamoinen model,2:SBAS model,3:troposphere option: ZTD estimation,4:ZTD+grad estimation,5:ZTD correction,6:ZTD+grad correction)
+ sbascorr: 15 # SBAS option (1:long term correction,2:fast correction,4:ionosphere correction,8:ranging)
+ raim: 1 # apply RAIM n times
+ elmin: 0.26 # elevation min (rad) = 15 degrees
+ maxgdop: 30 # reject threshold of gdop (ground dilusion of precision)
+ constellations:
+ GPS: true
+ SBS: false
+ GLO: false
+ GAL: true
+ QZS: false
+ CMP: false
+ IRN: false
+ LEO: false
+
diff --git a/yaml/tests.txt b/yaml/tests.txt
index 17350ce9403c82c7c85d40489182f86273a94ef6..de48fec6ceb846de6396a743a168ca70ef0278c5 100644
--- a/yaml/tests.txt
+++ b/yaml/tests.txt
@@ -10,3 +10,6 @@ test5
laser + imu
test6:
laser + odom
+
+test7:
+ laser + gnss