param config for robot_localization

luxonis · Feb 16, 2024 · 281945c · 281945c
1 parent e20518b
commit 281945c
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Showing 4 changed files with 28 additions and 31 deletions.
diff --git a/rae_camera/config/camera.yaml b/rae_camera/config/camera.yaml
@@ -8,22 +8,19 @@
 
       i_calibration_dump: false
       i_pipeline_dump: false
-    imu:
-      i_acc_cov: 0.1
-      i_gyro_cov: 0.001
-      i_batch_report_threshold: 5
-      i_max_batch_reports: 5
-      i_gyro_freq: 400
-      i_acc_freq: 65
     nn:
       i_nn_config_path: /workspaces/rae_ws/src/rae-ros/rae_camera/config/yolo.json
       i_disable_resize: true
       i_enable_passthrough: true
     imu:
+      i_acc_cov: 0.1
+      i_gyro_cov: 0.001
+      i_rot_cov: 0.000001
       i_batch_report_threshold: 5
       i_max_batch_reports: 5
       i_enable_rotation: true
       i_message_type: IMU_WITH_MAG_SPLIT
+      i_rotation_vector_type: GAME_ROTATION_VECTOR
       i_sync_method: COPY
       i_gyro_freq: 100
       i_acc_freq: 100

diff --git a/rae_hw/config/controller.yaml b/rae_hw/config/controller.yaml
@@ -30,7 +30,7 @@ diff_controller:
     velocity_rolling_window_size: 1
 
     open_loop: false
-    enable_odom_tf: true
+    enable_odom_tf: false
 
     cmd_vel_timeout: 0.5
     use_stamped_vel: false

diff --git a/rae_hw/config/ekf.yaml b/rae_hw/config/ekf.yaml
@@ -4,7 +4,7 @@ ekf_filter_node:
         # The frequency, in Hz, at which the filter will output a position estimate. Note that the filter will not begin
         # computation until it receives at least one message from one of the inputs. It will then run continuously at the
         # frequency specified here, regardless of whether it receives more measurements. Defaults to 30 if unspecified.
-        frequency: 50.0
+        frequency: 10.0
 
         # The period, in seconds, after which we consider a sensor to have timed out. In this event, we carry out a predict
         # cycle on the EKF without correcting it. This parameter can be thought of as the minimum frequency with which the
@@ -20,7 +20,7 @@ ekf_filter_node:
         # Use this parameter to provide an offset to the transform generated by ekf_localization_node. This can be used for
         # future dating the transform, which is required for interaction with some other packages. Defaults to 0.0 if
         # unspecified.
-        transform_time_offset: 0.0
+        transform_time_offset: 0.3
 
         # Use this parameter to provide specify how long the tf listener should wait for a transform to become available. 
         # Defaults to 0.0 if unspecified.
@@ -45,7 +45,7 @@ ekf_filter_node:
         publish_acceleration: false
 
         # Whether to broadcast the transformation over the /tf topic. Defaults to true if unspecified.
-        publish_tf: false
+        publish_tf: true
 
         # REP-105 (http://www.ros.org/reps/rep-0105.html) specifies four principal coordinate frames: base_link, odom, map, and
         # earth. base_link is the coordinate frame that is affixed to the robot. Both odom and map are world-fixed frames.
@@ -129,15 +129,15 @@ ekf_filter_node:
 
         # Further input parameter examples
 
-        imu0: imu/data
+        imu0: rae/imu/data
         imu0_config: [false, false, false,
                       false,  false,  true,
                       false, false, false,
                       false,  false,  false,
                       false,  false,  false]
         imu0_differential: false
         imu0_relative: false
-        imu0_queue_size: 1
+        imu0_queue_size: 10
         imu0_pose_rejection_threshold: 0.8                 # Note the difference in parameter names
         imu0_twist_rejection_threshold: 0.8                #
         imu0_linear_acceleration_rejection_threshold: 0.8  #

diff --git a/rae_hw/launch/control.launch.py b/rae_hw/launch/control.launch.py
@@ -43,24 +43,24 @@ def launch_setup(context, *args, **kwargs):
                 'rae_hw'), 'config', 'ekf.yaml')],
     )
 
-    imu_comp_filt = Node(
-        package='imu_complementary_filter',
-        executable='complementary_filter_node',
-        name='complementary_filter_gain_node',
-        namespace=LaunchConfiguration('namespace'),
-        output='screen',
-        parameters=[
-            {'do_bias_estimation': True},
-            {'do_adaptive_gain': True},
-            {'orientation_stddev': 0.001},
-            {'use_mag': False},
-            {'gain_acc': 0.04},
-            {'gain_mag': 0.01},
-        ],
-        remappings=[
-            ('imu/data_raw', '/rae/imu/data'),
-        ]
-    )
+    # imu_comp_filt = Node(
+    #     package='imu_complementary_filter',
+    #     executable='complementary_filter_node',
+    #     name='complementary_filter_gain_node',
+    #     namespace=LaunchConfiguration('namespace'),
+    #     output='screen',
+    #     parameters=[
+    #         {'do_bias_estimation': True},
+    #         {'do_adaptive_gain': True},
+    #         {'orientation_stddev': 0.001},
+    #         {'use_mag': False},
+    #         {'gain_acc': 0.04},
+    #         {'gain_mag': 0.01},
+    #     ],
+    #     remappings=[
+    #         ('imu/data_raw', '/rae/imu/data'),
+    #     ]
+    # )
 
     controller_manager = Node(
         package='controller_manager',