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Commit 61677e82 authored by Arnau Marzabal Gatell's avatar Arnau Marzabal Gatell
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Minor changes to yaml files

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1 merge request!1Draft: Resolve "simulated data"
platform_params:
cf: 4.511e-06 # cf computed with 60% thrust values (1196g at 15400rpm)
cm: 2.706e-07
torque_correction: 0 # No need for correction in simulation
max_thrust: 10 # Thrust limited to 10 N. Max available: 20.6991
min_thrust: 0.0
max_prop_speed: 2236.0 # Corresponding to its max (21350 rpm)
......
config:
debug:
profiling: true
profiling_file: "~/wolf_demo_uav_identification.txt"
print_problem: true
print_depth: 1 # only if print_problem
print_constr_by: false # only if print_problem
print_metric: true # only if print_problem
print_state_blocks: true # only if print_problem
print_period: 3 # only if print_problem
problem:
node_rate: 100
frame_structure: "POVL"
dimension: 3
prior:
mode: "initial_guess" ##
$state:
P: [0,0,2.5] # amg # initial position
O: [0,0,0,1] # amg # initial orientation
V: [0,0,0]
L: [0,0,0]
$sigma:
P: [0.31, 0.31, 0.31]
O: [0.31, 0.31, 0.31]
V: [100,100,100]
L: [100,100,100]
time_tolerance: 0.005
tree_manager:
type: "TreeManagerSlidingWindow"
plugin: "core"
n_frames: 1000
n_fix_first_frames: 0
viral_remove_empty_parent: true
map:
type: "MapBase"
plugin: "core"
solver:
follow: "solver.yaml"
sensors:
-
name: "sensor FTI"
type: "SensorForceTorqueInertial"
plugin: "bodydynamics"
extrinsic:
pose: [0,0,0, 0,0,0,1]
# IMU
acc_noise_std: .01 # std dev of acc noise in m/s2 # 0.6/4
gyro_noise_std: .01 # std dev of gyro noise in rad/s
accb_initial_std: 0.5 # m/s2 - initial bias
gyrob_initial_std: 0.1 # rad/sec - initial bias
acc_drift_std: 0.1 # std dev of acc drift m/s2/sqrt(s)
gyro_drift_std: 0.1 # std dev of gyro drift rad/s/sqrt(s)
bias: [0,0,0,0,0,0] # bias prior, usefull for fixing the bias when known
imu_bias_fix: true
#FT
force_noise_std: 1 # std dev of force noise in N
torque_noise_std: 1 # std dev of torque noise in N/m
# Dynamics
com: [0.00,0.00,0.0] # center of mass [m]
inertia: [0.014958,0.014648,0.0237319] # moments of inertia i_xx, i_yy, i_zz [kg m2]
mass: 2.02 # mass [kg]
com_fix: false
inertia_fix: false
mass_fix: false
# priors
set_mass_prior: true
prior_mass_std: 1
set_inertia_prior: true
prior_inertia_std: [0.1,0.1,0.1]
set_com_prior: true
prior_com_std: [0.1,0.1,0.1]
set_bias_prior: true
prior_bias: [0,0,0,0,0,0]
prior_bias_std: [0.1,0.1,0.1,0.1,0.1,0.1]
-
name: "sensor Pose"
type: "SensorPose"
plugin: "core"
extrinsic:
pose: [0.0,0.0,0.0, 0,0,0,1] #amg
std_p: 0.001
std_o: 0.001
processors:
-
name: "proc FTID"
type: "ProcessorForceTorqueInertialDynamics"
sensor_name: "sensor FTI"
plugin: "bodydynamics"
time_tolerance: 0.01 # amg 1/50/2
apply_loss_function: false
unmeasured_perturbation_std: 0.00001
state_getter: true
state_priority: 1
keyframe_vote:
voting_active: true
max_time_span: 0.2 # De moment el que funciona millor és 1 s o 2s
max_buff_length: 999 # motion deltas
dist_traveled: 999 # meters
angle_turned: 999 # radians (1 rad approx 57 deg, approx 60 deg)
-
name: "processor Pose"
type: "ProcessorPose"
sensor_name: "sensor Pose"
plugin: "core"
time_tolerance: 0.01 # 1 / 100Hz / 2 = 0.005
apply_loss_function: false
keyframe_vote:
voting_active: false
ROS subscriber:
-
package: "wolf_ros_bodydynamics"
type: "SubscriberForceTorqueInertialDrone"
topic: " "
topic_acc: "/fmu/sensor_accel/out"
topic_gyro: "/fmu/sensor_gyro/out"
topic_sensorCombined: "/fmu/sensor_combined/out"
topic_actuators: "/fmu/actuator_outputs/out"
topic_batteryStatus: "/fmu/battery_status/out"
sensor_name: "sensor FTI"
imu_x_axis: 1
imu_y_axis: -2
imu_z_axis: -3
cov_imu_source: "sensor"
in_degrees: false
synchronization_mode: "imu"
duty_min: 1000
duty_max: 2000
w_min: 100
w_max: 2216
# w_max: 1116
quadratic_aprox: true # true in simulation
follow: "./borinot_platform_simulation.yaml"
-
package: "wolf_ros_node"
type: "SubscriberPose"
topic: "/pose_from_tf" # amg # msg generated from tf to mimic the optitrack msg
sensor_name: "sensor Pose"
ROS publisher:
-
type: "PublisherGraph"
topic: "graph"
package: "wolf_ros_node"
period: 0.05
viz_scale: 0.3
text_scale: 0.3
landmark_text_z_offset: 0.3
landmark_length: 0.5
frame_width: 0.05
frame_length: 0.5
frame_vel_scale: 1.0
factors_absolute_height: 00.1
-
type: "PublisherTf"
topic: " "
package: "wolf_ros_node"
period: 0.1
map_frame_id: "map"
odom_frame_id: "odom"
base_frame_id: "base_footprint"
publish_odom_tf: true
......@@ -58,6 +58,7 @@ config:
gyrob_initial_std: 0.1 # rad/sec - initial bias
acc_drift_std: 0.1 # std dev of acc drift m/s2/sqrt(s)
gyro_drift_std: 0.1 # std dev of gyro drift rad/s/sqrt(s)
bias: [0,0,0,0,0,0] # bias prior, usefull for fixing the bias when known
imu_bias_fix: false
#FT
......@@ -65,10 +66,9 @@ config:
torque_noise_std: 1 # std dev of torque noise in N/m
# Dynamics
com: [0.00,0.00,0.0] # center of mass [m]
inertia: [0.014958,0.014648,0.0237319] # moments of inertia i_xx, i_yy, i_zz [kg m2]
# inertia: [0.015,0.015,0.015]
mass: 2.02 # mass [kg]
com: [0.00,0.00,0.0] # center of mass [m]
inertia: [0.014958,0.014648,0.0237319] # moments of inertia i_xx, i_yy, i_zz [kg m2]
mass: 2.02 # mass [kg]
com_fix: true
inertia_fix: false
mass_fix: true
......@@ -133,6 +133,7 @@ config:
topic: " "
topic_acc: "/fmu/sensor_accel/out"
topic_gyro: "/fmu/sensor_gyro/out"
topic_sensorCombined: "/fmu/sensor_combined/out"
topic_actuators: "/fmu/actuator_outputs/out"
topic_batteryStatus: "/fmu/battery_status/out"
sensor_name: "sensor FTI"
......@@ -178,4 +179,4 @@ config:
map_frame_id: "map"
odom_frame_id: "odom"
base_frame_id: "base_footprint"
publish_odom_tf: true
publish_odom_tf: true
\ No newline at end of file
......@@ -52,12 +52,13 @@ config:
pose: [0,0,0, 0,0,0,1]
# IMU
acc_noise_std: 0.1 # std dev of acc noise in m/s2 # 0.6/4
gyro_noise_std: 0.01 # std dev of gyro noise in rad/s
accb_initial_std: 0.01 # m/s2 - initial bias
gyrob_initial_std: 0.01 # rad/sec - initial bias
acc_drift_std: 0.0001 # std dev of acc drift m/s2/sqrt(s)
gyro_drift_std: 0.0001 # std dev of gyro drift rad/s/sqrt(s)
acc_noise_std: 0.1 # std dev of acc noise in m/s2 # 0.6/4
gyro_noise_std: 0.01 # std dev of gyro noise in rad/s
accb_initial_std: 0.01 # m/s2 - initial bias
gyrob_initial_std: 0.01 # rad/sec - initial bias
acc_drift_std: 0.0001 # std dev of acc drift m/s2/sqrt(s)
gyro_drift_std: 0.0001 # std dev of gyro drift rad/s/sqrt(s)
bias: [0,0,0,0,0,0] # bias prior, usefull for fixing the bias when known
imu_bias_fix: false
#FT
......@@ -68,6 +69,7 @@ config:
com: [0.00,0.00,0.0] # center of mass [m]
inertia: [0.0134943,0.0141622,0.0237319] # moments of inertia i_xx, i_yy, i_zz [kg m2]
mass: 2 # mass [kg]
com_fix: false
inertia_fix: true
mass_fix: false
......@@ -87,7 +89,7 @@ config:
type: "SensorPose"
plugin: "core"
extrinsic:
pose: [0.0,0.0,0.0, 0,0,0,1] #amg
pose: [0.0,0.0,0.0, 0,0,0,1]
std_p: 0.0001
std_o: 0.0001
......@@ -98,13 +100,11 @@ config:
type: "ProcessorForceTorqueInertialDynamics"
sensor_name: "sensor FTI"
plugin: "bodydynamics"
# time_tolerance: 0.00125 # 1/471/2
time_tolerance: 0.01 # amg 1/50/2
apply_loss_function: false
unmeasured_perturbation_std: 0.00001
state_getter: true
state_priority: 1
# n_propellers: 6
keyframe_vote:
voting_active: true
max_time_span: 0.2
......@@ -131,12 +131,13 @@ config:
topic: " "
topic_acc: "/fmu/sensor_accel/out"
topic_gyro: "/fmu/sensor_gyro/out"
topic_sensorCombined: "/fmu/sensor_combined/out"
topic_actuators: "/fmu/actuator_outputs/out"
topic_batteryStatus: "/fmu/battery_status/out"
sensor_name: "sensor FTI"
imu_x_axis: 1
imu_y_axis: -2
imu_z_axis: -3
imu_x_axis: 1 # PX4 axis are frd (front right down)
imu_y_axis: -2 # PX4 axis are frd
imu_z_axis: -3 # PX4 axis are frd
cov_imu_source: "sensor"
in_degrees: false
synchronization_mode: "imu"
......
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