vicon2gt.launch

<launch>


    <arg name="path_bag" />
    <arg name="stats_path_states" />
    <arg name="stats_path_info" />

    <!-- topics -->
    <arg name="topic_imu"   />
    <arg name="topic_vicon"  />


    <!-- MASTER NODE! -->
    <node name="$(anon estimate_vicon2gt)" pkg="vicon2gt" type="estimate_vicon2gt" output="screen" clear_params="true">
        <!--    <node name="estimate_vicon2gt" pkg="vicon2gt" type="estimate_vicon2gt" output="screen" clear_params="true" required="true" launch-prefix="gdb -ex run &#45;&#45;args">-->

        <!-- bag topics -->
        <param name="topic_imu"      type="string" value="$(arg topic_imu)" />
        <param name="topic_vicon"    type="string" value="$(arg topic_vicon)" />

        <!-- bag parameters -->
        <param name="path_bag"    type="string" value="$(arg path_bag)" />
        <param name="bag_start"   type="int"    value="0" />
        <param name="bag_durr"    type="int"    value="-1" />

        <!-- save information -->
        <param name="state_freq"         type="int"    value="100" />
        <param name="save_to_file"       type="bool"   value="true" />
        <param name="stats_path_states"  type="string" value="$(arg stats_path_states)" />
        <param name="stats_path_info"    type="string" value="$(arg stats_path_info)" />

        <!-- world parameters -->
        <rosparam param="R_BtoI">[0, 1, 0, 0, 0, -1, -1, 0, 0]</rosparam>
        <rosparam param="p_BinI">[0.05, 0.01, -0.1]</rosparam>
        <rosparam param="R_GtoV">[1, 0, 0, 0, 1, 0, 0, 0, 1]</rosparam>
        <param name="gravity_magnitude"          type="double" value="9.81" />
        <param name="toff_imu_to_vicon"          type="double" value="0.01" />
        <param name="num_loop_relin"             type="int"    value="2" />
        <param name="estimate_toff_vicon_to_imu" type="bool"   value="true" />
        <param name="estimate_ori_vicon_to_imu"  type="bool"   value="true" />
        <param name="estimate_pos_vicon_to_imu"  type="bool"   value="true" />

        <!-- vicon sigmas, only used if we don't get odometry -->
        <!-- sigmas: (rx,ry,rz,px,py,pz) -->
        <rosparam param="vicon_sigmas">[1e-3,1e-3,1e-3,1e-2,1e-2,1e-2]</rosparam>
        <param name="freq_pub_raw_vicon" type="double" value="1.0" />
        <param name="use_manual_sigmas"  type="bool"   value="true" />

        <!-- sensor noises -->
        <!-- <param name="gyroscope_noise_density"      type="double"   value="0.00020544166" />
        <param name="gyroscope_random_walk"        type="double"   value="0.00001110622" />
        <param name="accelerometer_noise_density"  type="double"   value="0.00207649074" />
        <param name="accelerometer_random_walk"    type="double"   value="0.00041327852" /> -->
        
        <!-- vi-sensor -->
        <param name="gyroscope_noise_density"      type="double"   value="1.6968e-04" />
        <param name="gyroscope_random_walk"        type="double"   value="1.9393e-05" />
        <param name="accelerometer_noise_density"  type="double"   value="2.0000e-3" />
        <param name="accelerometer_random_walk"    type="double"   value="3.0000e-3" />


    </node>

    <!-- <node type="rviz" name="rviz" pkg="rviz" args="-d $(find vicon2gt)/launch/display.rviz" /> -->

</launch>