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feat(imu_launch): add gyro_bias_estimator.param.yaml #232

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merged 4 commits into from
Apr 22, 2024
Merged

feat(imu_launch): add gyro_bias_estimator.param.yaml #232

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c64b6b2
Added gyro_bias_estimator_param_path to all imu.launch.xml
TaikiYamada4 Apr 16, 2024
92e0035
Added gyro_bias_estimator.param.yaml to common_sensor_launch
TaikiYamada4 Apr 16, 2024
b051eff
Fixed value in gyro_bias_estimator.param.yaml
TaikiYamada4 Apr 16, 2024
402f41b
Distribute gyro_bias_estimator.param.yaml to each aip_x1_launch, aip_…
TaikiYamada4 Apr 16, 2024
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6 changes: 6 additions & 0 deletions aip_x1_launch/config/gyro_bias_estimator.param.yaml
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/**:
ros__parameters:
gyro_bias_threshold: 0.008 # [rad/s]
timer_callback_interval_sec: 0.5 # [sec]
diagnostics_updater_interval_sec: 0.5 # [sec]
straight_motion_ang_vel_upper_limit: 0.015 # [rad/s]
2 changes: 2 additions & 0 deletions aip_x1_launch/launch/imu.launch.xml
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Expand Up @@ -14,10 +14,12 @@
<arg name="param_file" value="$(var imu_corrector_param_file)"/>
</include>

<arg name="gyro_bias_estimator_param_file" default="$(find-pkg-share aip_x1_launch)/config/gyro_bias_estimator.param.yaml"/>
<include file="$(find-pkg-share imu_corrector)/launch/gyro_bias_estimator.launch.xml">
<arg name="input_imu_raw" value="$(var imu_raw_name)"/>
<arg name="input_odom" value="/localization/kinematic_state"/>
<arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
<arg name="gyro_bias_estimator_param_file" value="$(var gyro_bias_estimator_param_file)"/>
</include>
</group>

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6 changes: 6 additions & 0 deletions aip_x2_launch/config/gyro_bias_estimator.param.yaml
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/**:
ros__parameters:
gyro_bias_threshold: 0.008 # [rad/s]
timer_callback_interval_sec: 0.5 # [sec]
diagnostics_updater_interval_sec: 0.5 # [sec]
straight_motion_ang_vel_upper_limit: 0.015 # [rad/s]
2 changes: 2 additions & 0 deletions aip_x2_launch/launch/imu.launch.xml
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Expand Up @@ -29,10 +29,12 @@
<arg name="param_file" value="$(var imu_corrector_param_file)"/>
</include>

<arg name="gyro_bias_estimator_param_file" default="$(find-pkg-share aip_x2_launch)/config/gyro_bias_estimator.param.yaml"/>
<include file="$(find-pkg-share imu_corrector)/launch/gyro_bias_estimator.launch.xml">
<arg name="input_imu_raw" value="$(var imu_raw_name)"/>
<arg name="input_odom" value="/localization/kinematic_state"/>
<arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
<arg name="gyro_bias_estimator_param_file" value="$(var gyro_bias_estimator_param_file)"/>
</include>
</group>

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6 changes: 6 additions & 0 deletions aip_xx1_launch/config/gyro_bias_estimator.param.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,6 @@
/**:
ros__parameters:
gyro_bias_threshold: 0.008 # [rad/s]
timer_callback_interval_sec: 0.5 # [sec]
diagnostics_updater_interval_sec: 0.5 # [sec]
straight_motion_ang_vel_upper_limit: 0.015 # [rad/s]
2 changes: 2 additions & 0 deletions aip_xx1_launch/launch/imu.launch.xml
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Expand Up @@ -23,10 +23,12 @@
<arg name="param_file" value="$(var imu_corrector_param_file)"/>
</include>

<arg name="gyro_bias_estimator_param_file" default="$(find-pkg-share aip_xx1_launch)/config/gyro_bias_estimator.param.yaml"/>
<include file="$(find-pkg-share imu_corrector)/launch/gyro_bias_estimator.launch.xml">
<arg name="input_imu_raw" value="$(var imu_raw_name)"/>
<arg name="input_odom" value="/localization/kinematic_state"/>
<arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
<arg name="gyro_bias_estimator_param_file" value="$(var gyro_bias_estimator_param_file)"/>
</include>
</group>

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