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mobile_robotics
wolf_projects
wolf_ros
demos
wolf_demo_uav_identification
Commits
7861e000
Commit
7861e000
authored
1 year ago
by
Arnau Marzabal Gatell
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inertia estimation from simulated data
parent
026b60ac
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2 merge requests
!2
Draft: Resolve "real data"
,
!1
Draft: Resolve "simulated data"
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launch/inertia_estimation_simulation.launch
+51
-0
51 additions, 0 deletions
launch/inertia_estimation_simulation.launch
yaml/inertia_estimation_simulation.yaml
+6
-6
6 additions, 6 deletions
yaml/inertia_estimation_simulation.yaml
with
57 additions
and
6 deletions
launch/inertia_estimation_simulation.launch
0 → 100644
+
51
−
0
View file @
7861e000
<!-- -->
<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>
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yaml/inertia_estimation_simulation.yaml
+
6
−
6
View file @
7861e000
...
...
@@ -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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