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commented code for global localization frames
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@wang-edward @nico-palmar
wang-edward authored and nico-palmar committed May 20, 2024
1 parent 17c4957 commit 90198e4
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74 changes: 74 additions & 0 deletions ...over_drivetrain/uwrt_mars_rover_drivetrain_description/config/dual_ekf_navsat_params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -49,3 +49,77 @@ ekf_filter_node_odom:
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3]

# ekf_filter_node_map:
# ros__parameters:
# frequency: 30.0
# two_d_mode: true # Recommended to use 2d mode for nav2 in mostly planar environments
# print_diagnostics: true
# debug: false
# publish_tf: true

# map_frame: map
# odom_frame: odom
# base_link_frame: base_link # the frame id used by the diff drive plugin
# world_frame: map

# odom0: odom
# odom0_config: [false, false, false, # use the same config as above
# false, false, false,
# true, true, true,
# false, false, true,
# false, false, false]
# odom0_queue_size: 10
# odom0_differential: false
# odom0_relative: false

# odom1: odometry/gps
# odom1_config: [true, true, false,
# false, false, false,
# false, false, false,
# false, false, false,
# false, false, false]
# odom1_queue_size: 10
# odom1_differential: false
# odom1_relative: false

# imu0: imu/data
# imu0_config: [false, false, false,
# false, false, true,
# false, false, false,
# false, false, false,
# false, false, false]
# imu0_differential: false # If using a real robot you might want to set this to true, since usually absolute measurements from real imu's are not very accurate
# imu0_relative: false
# imu0_queue_size: 10
# imu0_remove_gravitational_acceleration: true

# use_control: false

# process_noise_covariance: [1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
# 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
# 0.0, 0.0, 1e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
# 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
# 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
# 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
# 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
# 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
# 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
# 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0, 0.0,
# 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0,
# 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0,
# 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0,
# 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0,
# 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3]

# navsat_transform:
# ros__parameters:
# frequency: 30.0
# delay: 3.0
# magnetic_declination_radians: 0.0
# yaw_offset: 0.0
# zero_altitude: true
# broadcast_cartesian_transform: false
# publish_filtered_gps: false
# use_odometry_yaw: true
# wait_for_datum: false
22 changes: 22 additions & 0 deletions ..._rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/dual_ekf_navsat.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -28,5 +28,27 @@ def generate_launch_description():
parameters=[rl_params_file, {"use_sim_time": True}],
remappings=[("odometry/filtered", "odometry/local")],
),
# launch_ros.actions.Node(
# package="robot_localization",
# executable="ekf_node",
# name="ekf_filter_node_map",
# output="screen",
# parameters=[rl_params_file, {"use_sim_time": True}],
# remappings=[("odometry/filtered", "odometry/global")],
# ),
# launch_ros.actions.Node(
# package="robot_localization",
# executable="navsat_transform_node",
# name="navsat_transform",
# output="screen",
# parameters=[rl_params_file, {"use_sim_time": True}],
# remappings=[
# ("imu/data", "imu/data"),
# ("gps/fix", "gps/fix"),
# ("gps/filtered", "gps/filtered"), # no need to remap these
# ("odometry/gps", "odometry/gps"),
# ("odometry/filtered", "odometry/global"),
# ],
# ),
]
)

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