Added visualization of prior landmarks

RossHartley · Sep 19, 2018 · d9333a4 · d9333a4
1 parent c449620
commit d9333a4
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Showing 5 changed files with 2,067 additions and 2,022 deletions.
diff --git a/inekf_ros/config/prior.yaml b/inekf_ros/config/prior.yaml
@@ -9,10 +9,10 @@ prior:
   base_position_std: 0.01
   gyroscope_bias_std: 0.001
   accelerometer_bias_std: 0.01
-  # landmarks: 
-  #   - id: 0
-  #     position: [1.0,1.0,0.0] 
-  #   - id: 1
-  #     position: [1.0,-1.0,0.0]
-  #   - id: 2
-  #     position: [2.0,0.0,1.0]
+  landmarks: 
+    - id: 0
+      position: [1.0,1.0,0.0] 
+    - id: 1
+      position: [1.0,-1.0,0.0]
+    - id: 2
+      position: [2.0,0.0,1.0]
diff --git a/inekf_ros/config/settings.yaml b/inekf_ros/config/settings.yaml
@@ -6,9 +6,9 @@ settings:
   publish_rate: 100.0
   pose_topic: "/pose"
   state_topic: "/state"
-  # publish_landmark_position_markers: true
-  # landmark_position_markers_topic: "/landmark_position_markers"
-  # publish_trajectory_markers: true
-  # trajectory_markers_topic: "/trajectory_markers"
-  # publish_landmark_measurement_markers: true
-  # landmark_measurement_markers_topic: "/landmark_measurement_markers"
+  publish_landmark_position_markers: true
+  landmark_position_markers_topic: "/landmark_position_markers"
+  publish_trajectory_markers: true
+  trajectory_markers_topic: "/trajectory_markers"
+  publish_landmark_measurement_markers: true
+  landmark_measurement_markers_topic: "/landmark_measurement_markers"