merged from main and dev/eskf_fuse_depth

Author: AntTra

navigation/eskf/config/eskf_params.yaml

@@ -1,32 +1,6 @@
 /**:
   eskf_node:
     ros__parameters:
-      use_landmark_egomotion: true
-      vo:
-        landmarks_topic: /aruco_detector/landmarks
-
-        base_frame: orca/base_link
-        camera_frame: orca/front_camera_optical
-
-        nis_gate_pose: 16.812
-        nis_gate_velocity: 11.345
-        disable_gating: true
-        dropout_timeout: 10.0
-        rejects_limit: 5
-
-        pos_floor: 0.05
-        att_floor: 0.02
-        vel_floor: 0.2
-        dt_min: 0.02
-        dt_max: 15.0
-
-        # Sliding-window smoother
-        use_sw: true
-        window_size: 20
-        max_age: 15.0
-        huber_deg: 20.0
-        gate_deg: 60.0
-
       dvl_topic: /dvl/sim
       odom_topic: odom_ESKF
       diag_Q_std: [0.05, 0.05, 0.1, 0.01, 0.01, 0.02, 0.001, 0.001, 0.001, 0.0001, 0.0001, 0.0001]
@@ -58,3 +32,29 @@
       atmospheric_pressure: 101000.0 # [Pa]
       water_density: 1026.0 # [kg/m3]
       gravity: 9.82841
+
+      use_landmark_egomotion: true
+      vo:
+        landmarks_topic: /aruco_detector/landmarks
+
+        base_frame: orca/base_link
+        camera_frame: orca/front_camera_optical
+
+        nis_gate_pose: 16.812
+        nis_gate_velocity: 11.345
+        disable_gating: true
+        dropout_timeout: 10.0
+        rejects_limit: 5
+
+        pos_floor: 0.05
+        att_floor: 0.02
+        vel_floor: 0.2
+        dt_min: 0.02
+        dt_max: 15.0
+
+        # Sliding-window smoother
+        use_sw: true
+        window_size: 20
+        max_age: 15.0
+        huber_deg: 20.0
+        gate_deg: 60.0

navigation/eskf/config/eskf_params_real_world.yaml

@@ -31,6 +31,32 @@
       water_density: 1026.0 # [kg/m3]
       gravity: 9.82841
 
+      use_landmark_egomotion: true
+      vo:
+        landmarks_topic: /aruco_detector/landmarks
+
+        base_frame: nautilus/base_link
+        camera_frame: "/cam/camera_info"
+
+        nis_gate_pose: 16.812
+        nis_gate_velocity: 11.345
+        disable_gating: true
+        dropout_timeout: 10.0
+        rejects_limit: 5
+
+        pos_floor: 0.1
+        att_floor: 0.05
+        vel_floor: 0.4
+        dt_min: 0.02
+        dt_max: 15.0
+
+        # Sliding-window smoother
+        use_sw: true
+        window_size: 20
+        max_age: 15.0
+        huber_deg: 20.0
+        gate_deg: 60.0
+
 # USED SENSORS
   # IMU: Kongsberg mini MRU
   # DVL & Depth: Nucleus 1000