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Edit View file @ 61677e82
.settings
.vscode/
build/
bag/rosbag_full.bag
bag/rosbag_hovering.bag
bag/rosbag_yaw.bag
bag/*
\ No newline at end of file
launch/Izz_estimation_simulation.launch 0 → 100644
Edit View file @ 61677e82
<!-- -->
<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="$(arg gdb)" />
<arg name="bag" default="rosbag_borinot_sim_yaw_V2"/>
<!--VISUALIZATION-->
<group if="$(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>
launch/inertia_estimation_simulation.launch 0 → 100644
Edit View file @ 61677e82
<!-- -->
<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>
launch/mass_and_com_estimation_simulation.launch 0 → 100644
Edit View file @ 61677e82
<!-- -->
<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="$(arg gdb)" />
<arg name="bag" default="rosbag_borinot_sim_hover_V2"/>
<!--VISUALIZATION-->
<group if="$(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/mass_and_com_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>
yaml/borinot_platform.yaml
Edit View file @ 61677e82
platform_params:
# cf: 4.511e-06 # cf computed with 60% thrust values (1196g at 15400rpm)
cf: 7.7e-06
# cm: 6.991478005829954e-08
cm: 4.5e-08
cf: 4.511e-06 # cf computed with 60% thrust values (1196g at 15400rpm)
# cf: 7.7e-06
# cf: 1.2113e-06
cm: 6.991478005829954e-08
# cm: 4.5e-08
# cm: 2.706e-7
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)
......@@ -32,4 +34,15 @@ platform_params:
- translation: [-0.1602147, 0.0925, 0.0]
orientation: [0, 0, 0.965926, 0.258819]
spin_direction: [1]
\ No newline at end of file
spin_direction: [1]
thrust_coeff: # opt 1
k_const: 1
k_d1: 1
k_d2: 1
k_d3: 0
k_v1: 0
k_v2: 0
k_v3: 0
k_d1v1: 0
k_d2v1: 0
k_d1v2: 0
yaml/borinot_platform_simulation.yaml 0 → 100644
Edit View file @ 61677e82
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)
min_prop_speed: 0.0
base_link_name: "borinot__base_link"
n_rotors: 6
$rotors:
- translation: [0.0, -0.185, 0.0]
orientation: [0, 0, -0.707107, 0.707107]
spin_direction: [1]
- translation: [0.0, 0.185, 0.0]
orientation: [0, 0, 0.707107, 0.707107]
spin_direction: [-1] # (-) means CCW
- translation: [0.1602147, 0.0925, 0.0]
orientation: [0, 0, 0.258819, 0.965926] # x, y, z, w
spin_direction: [1]
- translation: [-0.1602147, -0.0925, 0.0]
orientation: [0, 0, 0.965926, -0.258819]
spin_direction: [-1]
- translation: [0.1602147, -0.0925, 0.0]
orientation: [0, 0, -0.258819, 0.965926]
spin_direction: [-1]
- translation: [-0.1602147, 0.0925, 0.0]
orientation: [0, 0, 0.965926, 0.258819]
spin_direction: [1]
thrust_coeff: # calculated from the quadratic aproximation
k_const: 5.618252
k_d1: -0.0112365
k_d2: 5.61825e-6
k_d3: 0
k_v1: 0
k_v2: 0
k_v3: 0
k_d1v1: 0
k_d2v1: 0
k_d1v2: 0
yaml/general_estimation_simulation.yaml 0 → 100644
Edit View file @ 61677e82
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
yaml/inertia_estimation_simulation.yaml 0 → 100644
Edit View file @ 61677e82
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: [0,0,0] # amg # initial position
O: [0,0,0,1] # amg # initial orientation
V: [0,0,0]
L: [0,0,0]
$sigma:
P: [10, 10, 10]
O: [10, 10, 10]
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: false
#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: true
inertia_fix: false
mass_fix: true
# 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: [1,1,1]
set_bias_prior: true
prior_bias: [0,0,0,0,0,0]
# prior_bias: [0.0681, -0.0337, -0.123, 0.00258, -0.00129, -0.000407]
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]
std_p: 0.001
std_o: 0.001
processors:
-
name: "proc FTID"
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: 0.5 # 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" # msg generated from tf to mimic the optitrack msg
sensor_name: "sensor Pose"
ROS publisher:
-
type: "PublisherGraph"
topic: "graph"
package: "wolf_ros_node"
period: 0.1
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
\ No newline at end of file
yaml/mass_and_com_estimation_simulation.yaml 0 → 100644
Edit View file @ 61677e82
config:
debug:
profiling: false
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: [0,0,10] # 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: 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
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: [0.0134943,0.0141622,0.0237319] # moments of inertia i_xx, i_yy, i_zz [kg m2]
mass: 2 # mass [kg]
com_fix: false
inertia_fix: true
mass_fix: false
# regularization
set_com_prior: true
prior_com_std: [10,10,10]
set_inertia_prior: true
prior_inertia_std: [1,1,1]
set_mass_prior: true
prior_mass_std: 10
set_bias_prior: true
prior_bias_std: [10,10,10,10,10,10]
-
name: "sensor Pose"
type: "SensorPose"
plugin: "core"
extrinsic:
pose: [0.0,0.0,0.0, 0,0,0,1]
std_p: 0.0001
std_o: 0.0001
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
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 # 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"
duty_min: 1000
duty_max: 2000
w_min: 100 # arm rotor velocity
w_max: 2216
quadratic_aprox: true # true in simulation
follow: "./borinot_platform_simulation.yaml"
-
package: "wolf_ros_node"
type: "SubscriberPose"
topic: "/pose_from_tf" # msg generated from tf to mimic the optitrack msg
sensor_name: "sensor Pose"
ROS publisher:
-
type: "PublisherGraph"
topic: "graph"
package: "wolf_ros_node"
period: 0.1
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
yaml/solver.yaml
Edit View file @ 61677e82
minimizer: "LEVENBERG_MARQUARDT"
interrupt_on_problem_change: false
min_num_iterations: 4
max_num_iterations: 20
function_tolerance: 1e-7
gradient_tolerance: 1e-9
min_num_iterations: 5
max_num_iterations: 500
function_tolerance: 1e-10
gradient_tolerance: 1e-10
use_nonmonotonic_steps: false
period: 0.1 # note: this must be smaller (i.e. faster) than the KF period in processor_tracker_landmark_apriltag.yaml
n_threads: 2
period: 1 # note: this must be smaller (i.e. faster) than the KF period in processor_tracker_landmark_apriltag.yaml
n_threads: 8
compute_cov: false
verbose: 0
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cov_enum: 1 # compute all marginals
cov_period: 1
verbose: 1
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