simu-expr.md

River: A Tightly-coupled Radar-inertial Velocity Estimator

3.1 Simulation Test

We have already deployed a a program for generating simulation data. Just go to river/launch/simu-test folder and perform some modifies to river-simu.launch file if needed. Then we launch:

roslaunch river river-simu.launch

this would generate a simulated rosbag and some related ground-truth files:

• radar_imu.bag: the simulated rosbag which contains two message topics:

  path:        radar_imu.bag
  version:     2.0
  duration:    2:09s (129s)
  start:       Jan 01 1970 08:00:00.00 (0.00)
  end:         Jan 01 1970 08:02:09.99 (129.99)
  size:        24.0 MB
  messages:    103996
  compression: none [31/31 chunks]
  types:       sensor_msgs/Imu            [6a62c6daae103f4ff57a132d6f95cec2]
               ti_mmwave_rospkg/RadarScan [7a726cbc7d2934bb55d96dada9040f86]
  topics:      /simu_imu/frame    52000 msgs    : sensor_msgs/Imu           
               /simu_radar/scan   51996 msgs    : ti_mmwave_rospkg/RadarScan

• trajectory.json: the simulated rotation and transaction b-splines.

• rotation.json and velocity.json: the sampled rotations and velocities based on the b-splines, you can use python scripts we provided in river/scripts, i.e., rot_spline_drawer.py and vel_spline_drawer.py, to visualize them:

  

The next steps are simple, just modify the file paths of the ros bag in the configuration file config-simu.yaml in river/dataset/simu-high-dynamic/, and then configure the launch file of River, i.e., river-prog-simu-high-dynamic.launch in the launch/simu-test folder. Then, we launch 'River':

roslaunch river river-prog-simu-high-dynamic.launch