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229 feature documentation sensor filter debug #244

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merged 9 commits into from
Apr 1, 2024
Merged

229 feature documentation sensor filter debug #244

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dbf7fe8
feat(#229): way less complex and easier to understand
robertik10 Mar 29, 2024
6374872
fix: added unfiltered heading
robertik10 Mar 29, 2024
43fa8f1
feat(#229) changed name and finished file
robertik10 Mar 29, 2024
0255cfb
feat(#229) only needs better md and viz md and final test
robertik10 Mar 29, 2024
09b6b29
fix: linter
robertik10 Mar 29, 2024
0977c5c
feat(#229) Cleaned up and made viz better
robertik10 Mar 31, 2024
f83ba87
feat(#229): final commit
robertik10 Mar 31, 2024
17e9bdc
fix: linter
robertik10 Mar 31, 2024
21502e3
fix: linter
robertik10 Mar 31, 2024
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12 changes: 5 additions & 7 deletions code/perception/launch/perception.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -3,15 +3,13 @@
<arg name="role_name" default="hero" />
<arg name="control_loop_rate" default="0.1" />

<!-- just for testing purposes -> Uncomment to use and see plots -->
<!-- <node pkg="perception" type="sensor_filter_debug.py" name="sensor_filter_debug" output="screen">
<param name="control_loop_rate" value="0.001" />
<!-- just for Debugging/ Optimizing purposes -> Uncomment to use and see plots -->
<!-- <node pkg="perception" type="position_heading_filter_debug_node.py" name="position_heading_filter_debug_node" output="screen">
<param name="control_loop_rate" value="0.05" />
<param name="role_name" value="$(arg role_name)" />
</node> -->
<!--node pkg="rqt_plot" type="rqt_plot" output="screen" name="rqt_plot" args="/paf/hero/location_error/data[0] /paf/hero/location_error/data[1]" />
<node pkg="rqt_plot" type="rqt_plot" output="screen" name="x_plot" args="/paf/hero/ideal_x/data[0] /paf/hero/ideal_x/data[1]" />
<node pkg="rqt_plot" type="rqt_plot" output="screen" name="y_plot" args="/paf/hero/ideal_y/data[0] /paf/hero/ideal_y/data[1]" /-->
<!--node pkg="rqt_plot" type="rqt_plot" output="screen" name="error_plot" args="/paf/hero/ideal_x/data[2]" /-->
<!--<node pkg="rqt_plot" type="rqt_plot" output="screen" name="rqt_plot" args="/paf/hero/position_debug/data[10] /paf/hero/position_debug/data[13] /paf/hero/position_debug/data[16]"/>-->
<!--<node pkg="rqt_plot" type="rqt_plot" output="screen" name="rqt_plot" args="/paf/hero/heading_debug/data[5] /paf/hero/heading_debug/data[6]" />-->

<node pkg="perception" type="kalman_filter.py" name="kalman_filter_node" output="screen">
<param name="control_loop_rate" value="0.05" />
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0 ...lman_datasets/plots/data_26_MAE_Boxed.png → ...ding_Datasets/plots/data_26_MAE_Boxed.png
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0 ...lman_datasets/plots/data_26_MSE_Boxed.png → ...ding_Datasets/plots/data_26_MSE_Boxed.png
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0 ...an_datasets/plots/data_26_RMSPE_Boxed.png → ...ng_Datasets/plots/data_26_RMSPE_Boxed.png
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