Skip to content

Parameterization of unset covariances #1

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
samkys wants to merge 4 commits into
base: 25-dev
Choose a base branch
from
Open

Parameterization of unset covariances #1

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
b8d0a5e
Update README.md
samkys Aug 8, 2018
4e3dbfa
Updated launch to pull in params as well as cleaned up indentation in…
Aug 9, 2018
58247aa
Updated parameters.
Aug 10, 2018
81af6c2
Updated to watch for unstable IMU EKF filter and publish warning.
Sep 3, 2018
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 2 additions & 0 deletions README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,3 +6,5 @@ Interface software, including ROS node, for Microstrain 3DM-GX5-45.


See http://wiki.ros.org/microstrain_3dm_gx5_45

Modification from wiki as it runs the Microstrain 3dm gx5 25.
29 changes: 1 addition & 28 deletions launch/microstrain_25.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,34 +7,7 @@
pkg="microstrain_3dm_gx5_45"
type="microstrain_3dm_gx5_25_node"
output="screen">

<param name="port" value="/dev/ttyACM0" type="str" />
<param name="baudrate" value="115200" type="int" />
<param name="device_setup" value="true" type="bool" />

<!-- General Settings -->
<param name="readback_settings" value="true" type="bool" />
<param name="save_settings" value="true" type="bool" />
<param name="tf_ned_to_enu" value="true" type="bool" />

<!-- Additional data settings -->
<param name="publish_rpy" value="true" type="bool" />
<param name="publish_mag" value="true" type="bool" />

<!-- Complementary Filter Settings-->
<param name="publish_cf" value="false" type="bool" />
<param name="cf_rate" value="100" type="int" />

<!-- EKF Settings-->
<param name="auto_init" value="true" type="bool" />
<param name="imu_frame_id" value="imu_link" type="str" />

<!-- Declination source 1=None, 2=magnetic, 3=manual -->
<param name="declination_source" value="1" type="int" />

<!--<param name="declination" value="0.23" type="double" />-->
<param name="ekf_rate" value="100" type="int" />
<param name="dynamics_mode" value="1" type="int" />
<rosparam command="load" file="$(find microstrain_3dm_gx5_45)/params/gx5_25.yaml" />
</node>

</launch>
49 changes: 49 additions & 0 deletions params/gx5_25.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,49 @@
port: /dev/ttyACM0
baudrate: 115200
device_setup: true
readback_settings: true
save_settings: false

# Orientation settings
tf_ned_to_enu: true
publish_rpy: false
publish_mag: false

# Complementary filter settings
publish_cf: false
cf_rate: 100

# EKF settings
auto_init: true
imu_frame_id: imu_link
ekf_rate: 100

# Dynamics mode 1 = Portable, 2 = Automotive, 3 = Airborne
dynamics_mode: 1

# Declination source
# If using 2 make sure to set the lat long data for the world model.
# Declination source 1=None, 2=magnetic, 3=manual
declination_source: 3

# Declination value, set to your magnetic declination
declination: -0.072139694

# Make sure all covariances below are of type xx.xx , i.e. double so that the rpc is parsed correctly

# Linear Acceleration Covariances not produced by the sensor
linear_accel_covariance: [0.01, 0.0, 0.0,
0.0, 0.01, 0.0,
0.0, 0.0, 0.01]

# Angular Velocity Covariances not produced by the sensor
angular_vel_covariance: [0.01, 0.0, 0.0,
0.0, 0.01, 0.0,
0.0, 0.0, 0.01]

# Complementary filter orientation covariance, actual covariances output from
# sensor EKF when set to publish in that mode
cf_orientation_covariance: [0.01, 0.0, 0.0,
0.0, 0.01, 0.0,
0.0, 0.0, 0.01]

Loading