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* ekf initial * ekf working on bag * update * atfer panther tests * bringup - include ekf * Maciej suggestions * Add dynamic process noice * Final ekf config * wheek param * import * refactor * Update panther_bringup/config/ekf_config.yaml Co-authored-by: Maciej Stępień <maciek1284@outlook.com> * Update panther_bringup/config/imu_config.yaml Co-authored-by: Maciej Stępień <maciek1284@outlook.com> * Update panther_bringup/config/imu_config.yaml Co-authored-by: Maciej Stępień <maciek1284@outlook.com> * Sugestions * Update panther_description/config/WH01.yaml Co-authored-by: Maciej Stępień <maciek1284@outlook.com> * Update panther_description/config/WH02.yaml Co-authored-by: Maciej Stępień <maciek1284@outlook.com> * Update panther_description/config/WH04.yaml Co-authored-by: Maciej Stępień <maciek1284@outlook.com> --------- Co-authored-by: Maciej Stępień <maciek1284@outlook.com>
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# Ref: http://docs.ros.org/en/noetic/api/robot_localization/html/state_estimation_nodes.html | ||
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frequency: 20 | ||
sensor_timeout: 0.2 | ||
two_d_mode: true | ||
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transform_time_offset: 0.0 | ||
transform_timeout: 0.1 | ||
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map_frame: map | ||
odom_frame: odom | ||
base_link_frame: base_link | ||
world_frame: odom | ||
publish_tf: true | ||
publish_acceleration: false | ||
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odom0: odom/wheels | ||
odom0_config: [false, false, false, | ||
false, false, false, | ||
true, true, false, | ||
false, false, true, | ||
false, false, false] | ||
odom0_queue_size: 2 | ||
odom0_nodelay: false | ||
odom0_differential: false | ||
odom0_relative: true | ||
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imu0: imu/data | ||
imu0_config: [false, false, false, | ||
false, false, false, | ||
false, false, false, | ||
false, false, true, | ||
true, true, false] | ||
imu0_nodelay: false | ||
imu0_differential: false | ||
imu0_relative: true | ||
imu0_queue_size: 5 | ||
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imu0_remove_gravitational_acceleration: true | ||
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reset_on_time_jump: false | ||
predict_to_current_time: false | ||
print_diagnostics: false | ||
debug: false | ||
debug_out_file: /path/to/debug/file.txt | ||
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# Selected values experimentally so as to ensure relatively fast convergence (values should be about 10x higher than the sensor variance values) | ||
dynamic_process_noise_covariance: true | ||
process_noise_covariance: [1e-4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, | ||
0, 1e-4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, | ||
0, 0, 1e-4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, | ||
0, 0, 0, 3e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, | ||
0, 0, 0, 0, 3e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, | ||
0, 0, 0, 0, 0, 3e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, | ||
0, 0, 0, 0, 0, 0, 2e-5, 0, 0, 0, 0, 0, 0, 0, 0, | ||
0, 0, 0, 0, 0, 0, 0, 2e-5, 0, 0, 0, 0, 0, 0, 0, | ||
0, 0, 0, 0, 0, 0, 0, 0, 2e-5, 0, 0, 0, 0, 0, 0, | ||
0, 0, 0, 0, 0, 0, 0, 0, 0, 5e-5, 0, 0, 0, 0, 0, | ||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 5e-5, 0, 0, 0, 0, | ||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 5e-5, 0, 0, 0, | ||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 5e-5, 0, 0, | ||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 5e-5, 0, | ||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 5e-5] |
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<launch> | ||
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<node pkg="robot_localization" type="ekf_localization_node" name="panther_ekf" clear_params="true"> | ||
<rosparam command="load" file="$(find panther_bringup)/config/ekf_config.yaml" /> | ||
</node> | ||
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</launch> |
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