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Commit 7861e000 authored by Arnau Marzabal Gatell's avatar Arnau Marzabal Gatell
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inertia estimation from simulated data

parent 026b60ac
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2 merge requests!2Draft: Resolve "real data",!1Draft: Resolve "simulated data"
<!-- -->
<launch>
<!--USER ARGS-->
<arg name="rviz" default="true" />
<arg name="speed" default="1" />
<arg name="sec" default="0" />
<arg name="sim_time" default="true" />
<arg name="profiling" default="false" />
<arg name="gdb" default="false" />
<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="$(arg gdb)" />
<arg name="bag" default="rosbag_borinot_sim_general_V7"/>
<!--VISUALIZATION-->
<group if="$(arg rviz)">
<node name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find wolf_demo_uav_identification)/rviz/online.rviz" />
</group>
<!--WOLF-->
<node type="wolf_ros_node"
name="wolf_ros_node"
pkg="wolf_ros_node"
output="screen"
required="true"
launch-prefix="$(arg launch_pref)">
<param name="~yaml_file_path" value="$(find wolf_demo_uav_identification)/yaml/inertia_estimation_simulation.yaml" />
<remap from="/wrench_accel" to="/fmu/sensor_accel/out"/>
<remap from="/wrench_gyro" to="/fmu/sensor_gyro/out"/>
<remap from="/wrench_actuators" to="/fmu/actuator_outputs/out"/>
</node>
<!-- ROSBAG -->
<node pkg="rosbag"
type="play"
name="player"
required="true"
args="-r $(arg speed)
-s $(arg sec)
--clock
$(find wolf_demo_uav_identification)/bag/$(arg bag).bag"/>
</launch>
......@@ -20,13 +20,13 @@ config:
prior:
mode: "initial_guess" ##
$state:
P: [0,0,2.5] # amg # initial position
P: [0,0,0] # 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]
P: [10, 10, 10]
O: [10, 10, 10]
V: [100,100,100]
L: [100,100,100]
time_tolerance: 0.005
......@@ -77,7 +77,7 @@ config:
set_mass_prior: true
prior_mass_std: 1
set_inertia_prior: true
prior_inertia_std: [1,1,1]
prior_inertia_std: [0.1,0.1,0.1]
set_com_prior: true
prior_com_std: [1,1,1]
set_bias_prior: true
......@@ -89,7 +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: 0.001
std_o: 0.001
......@@ -152,7 +152,7 @@ config:
-
package: "wolf_ros_node"
type: "SubscriberPose"
topic: "/pose_from_tf" # amg # msg generated from tf to mimic the optitrack msg
topic: "/pose_from_tf" # msg generated from tf to mimic the optitrack msg
sensor_name: "sensor Pose"
......
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