From d9333a4246d1da94213186acda3053eb0d5d710b Mon Sep 17 00:00:00 2001 From: RossHartley Date: Wed, 19 Sep 2018 17:55:25 -0400 Subject: [PATCH] Added visualization of prior landmarks --- inekf_ros/config/prior.yaml | 14 +- inekf_ros/config/settings.yaml | 12 +- inekf_ros/data/sim_data_2.txt | 4000 ++++++++++++++++---------------- inekf_ros/include/InEKF_ROS.h | 5 +- inekf_ros/src/InEKF_ROS.cpp | 58 +- 5 files changed, 2067 insertions(+), 2022 deletions(-) diff --git a/inekf_ros/config/prior.yaml b/inekf_ros/config/prior.yaml index 500c30a..bc3ee23 100644 --- 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] \ No newline at end of file + 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] \ No newline at end of file diff --git a/inekf_ros/config/settings.yaml b/inekf_ros/config/settings.yaml index 93fb1a0..f7da190 100644 --- 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" diff --git a/inekf_ros/data/sim_data_2.txt b/inekf_ros/data/sim_data_2.txt index 362a576..d0fa01e 100644 --- a/inekf_ros/data/sim_data_2.txt +++ b/inekf_ros/data/sim_data_2.txt @@ -1,5 +1,5 @@ IMU 0.000000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 -LANDMARK 0.000000 1.000000 1.000000 1.000000 0.000000 2.000000 1.000000 -1.000000 0.000000 3.000000 1.000000 0.000000 1.000000 +LANDMARK 0.000000 0.000000 1.000000 1.000000 0.000000 1.000000 1.000000 -1.000000 0.000000 2.000000 2.000000 0.000000 1.000000 IMU 0.005000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.010000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.015000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 @@ -10,7 +10,7 @@ IMU 0.035000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.040000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.045000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.050000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 -LANDMARK 0.050000 1.000000 1.004981 0.994988 -0.000001 2.000000 0.994981 -1.004987 -0.000001 3.000000 0.999981 -0.005000 0.999999 +LANDMARK 0.050000 0.000000 1.004981 0.994988 -0.000001 1.000000 0.994981 -1.004987 -0.000001 2.000000 1.999969 -0.010000 0.999999 IMU 0.055000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.060000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.065000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 @@ -21,7 +21,7 @@ IMU 0.085000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.090000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.095000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.100000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 -LANDMARK 0.100000 1.000000 1.009925 0.989950 -0.000005 2.000000 0.989925 -1.009950 -0.000005 3.000000 0.999925 -0.010000 0.999995 +LANDMARK 0.100000 0.000000 1.009925 0.989950 -0.000005 1.000000 0.989925 -1.009950 -0.000005 2.000000 1.999875 -0.019999 0.999995 IMU 0.105000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.110000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.115000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 @@ -32,7 +32,7 @@ IMU 0.135000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.140000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.145000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.150000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 -LANDMARK 0.150000 1.000000 1.014831 0.984889 -0.000011 2.000000 0.984832 -1.014886 -0.000011 3.000000 0.999831 -0.014999 0.999989 +LANDMARK 0.150000 0.000000 1.014831 0.984889 -0.000011 1.000000 0.984832 -1.014886 -0.000011 2.000000 1.999719 -0.029998 0.999989 IMU 0.155000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.160000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.165000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 @@ -43,7 +43,7 @@ IMU 0.185000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.190000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.195000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.200000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 -LANDMARK 0.200000 1.000000 1.019699 0.979803 -0.000020 2.000000 0.979701 -1.019797 -0.000020 3.000000 0.999700 -0.019997 0.999980 +LANDMARK 0.200000 0.000000 1.019699 0.979803 -0.000020 1.000000 0.979701 -1.019797 -0.000020 2.000000 1.999500 -0.039996 0.999980 IMU 0.205000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.210000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.215000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 @@ -54,7 +54,7 @@ IMU 0.235000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.240000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.245000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.250000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 -LANDMARK 0.250000 1.000000 1.024529 0.974693 -0.000031 2.000000 0.974534 -1.024682 -0.000031 3.000000 0.999531 -0.024995 0.999969 +LANDMARK 0.250000 0.000000 1.024529 0.974693 -0.000031 1.000000 0.974534 -1.024682 -0.000031 2.000000 1.999219 -0.049992 0.999969 IMU 0.255000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.260000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.265000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 @@ -65,7 +65,7 @@ IMU 0.285000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.290000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.295000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.300000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 -LANDMARK 0.300000 1.000000 1.029321 0.969559 -0.000045 2.000000 0.969330 -1.029541 -0.000045 3.000000 0.999325 -0.029991 0.999955 +LANDMARK 0.300000 0.000000 1.029321 0.969559 -0.000045 1.000000 0.969330 -1.029541 -0.000045 2.000000 1.998875 -0.059986 0.999955 IMU 0.305000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.310000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.315000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 @@ -76,7 +76,7 @@ IMU 0.335000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.340000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.345000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.350000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 -LANDMARK 0.350000 1.000000 1.034074 0.964402 -0.000061 2.000000 0.964089 -1.034373 -0.000061 3.000000 0.999081 -0.034986 0.999939 +LANDMARK 0.350000 0.000000 1.034074 0.964402 -0.000061 1.000000 0.964089 -1.034373 -0.000061 2.000000 1.998469 -0.069978 0.999939 IMU 0.355000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.360000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.365000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 @@ -87,7 +87,7 @@ IMU 0.385000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.390000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.395000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.400000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 -LANDMARK 0.400000 1.000000 1.038790 0.959222 -0.000080 2.000000 0.958811 -1.039179 -0.000080 3.000000 0.998800 -0.039979 0.999920 +LANDMARK 0.400000 0.000000 1.038790 0.959222 -0.000080 1.000000 0.958811 -1.039179 -0.000080 2.000000 1.998000 -0.079968 0.999920 IMU 0.405000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.410000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.415000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 @@ -98,7 +98,7 @@ IMU 0.435000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.440000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.445000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.450000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 -LANDMARK 0.450000 1.000000 1.043466 0.954018 -0.000101 2.000000 0.953497 -1.043957 -0.000101 3.000000 0.998482 -0.044970 0.999899 +LANDMARK 0.450000 0.000000 1.043466 0.954018 -0.000101 1.000000 0.953497 -1.043957 -0.000101 2.000000 1.997469 -0.089954 0.999899 IMU 0.455000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.460000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.465000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 @@ -109,7 +109,7 @@ IMU 0.485000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.490000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.495000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.500000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 -LANDMARK 0.500000 1.000000 1.048105 0.948792 -0.000125 2.000000 0.948146 -1.048708 -0.000125 3.000000 0.998126 -0.049958 0.999875 +LANDMARK 0.500000 0.000000 1.048105 0.948792 -0.000125 1.000000 0.948146 -1.048708 -0.000125 2.000000 1.996876 -0.099937 0.999875 IMU 0.505000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.510000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.515000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 @@ -120,7 +120,7 @@ IMU 0.535000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.540000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.545000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.550000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 -LANDMARK 0.550000 1.000000 1.052704 0.943544 -0.000151 2.000000 0.942760 -1.053432 -0.000151 3.000000 0.997732 -0.054944 0.999849 +LANDMARK 0.550000 0.000000 1.052704 0.943544 -0.000151 1.000000 0.942760 -1.053432 -0.000151 2.000000 1.996220 -0.109917 0.999849 IMU 0.555000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.560000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.565000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 @@ -131,7 +131,7 @@ IMU 0.585000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.590000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.595000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.600000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 -LANDMARK 0.600000 1.000000 1.057265 0.938273 -0.000180 2.000000 0.937337 -1.058128 -0.000180 3.000000 0.997301 -0.059928 0.999820 +LANDMARK 0.600000 0.000000 1.057265 0.938273 -0.000180 1.000000 0.937337 -1.058128 -0.000180 2.000000 1.995502 -0.119892 0.999820 IMU 0.605000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.610000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.615000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 @@ -142,7 +142,7 @@ IMU 0.635000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.640000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.645000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.650000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 -LANDMARK 0.650000 1.000000 1.061787 0.932980 -0.000211 2.000000 0.931879 -1.062796 -0.000211 3.000000 0.996833 -0.064908 0.999789 +LANDMARK 0.650000 0.000000 1.061787 0.932980 -0.000211 1.000000 0.931879 -1.062796 -0.000211 2.000000 1.994721 -0.129862 0.999789 IMU 0.655000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.660000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.665000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 @@ -153,7 +153,7 @@ IMU 0.685000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.690000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.695000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.700000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 -LANDMARK 0.700000 1.000000 1.066270 0.927666 -0.000245 2.000000 0.926385 -1.067436 -0.000245 3.000000 0.996328 -0.069885 0.999755 +LANDMARK 0.700000 0.000000 1.066270 0.927666 -0.000245 1.000000 0.926385 -1.067436 -0.000245 2.000000 1.993879 -0.139828 0.999755 IMU 0.705000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.710000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.715000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 @@ -164,7 +164,7 @@ IMU 0.735000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.740000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.745000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.750000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 -LANDMARK 0.750000 1.000000 1.070714 0.922330 -0.000281 2.000000 0.920855 -1.072048 -0.000281 3.000000 0.995785 -0.074859 0.999719 +LANDMARK 0.750000 0.000000 1.070714 0.922330 -0.000281 1.000000 0.920855 -1.072048 -0.000281 2.000000 1.992973 -0.149789 0.999719 IMU 0.755000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.760000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.765000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 @@ -175,7 +175,7 @@ IMU 0.785000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.790000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.795000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.800000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 -LANDMARK 0.800000 1.000000 1.075119 0.916973 -0.000320 2.000000 0.915290 -1.076631 -0.000320 3.000000 0.995204 -0.079829 0.999680 +LANDMARK 0.800000 0.000000 1.075119 0.916973 -0.000320 1.000000 0.915290 -1.076631 -0.000320 2.000000 1.992006 -0.159744 0.999680 IMU 0.805000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.810000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.815000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 @@ -186,7 +186,7 @@ IMU 0.835000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.840000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.845000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.850000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 -LANDMARK 0.850000 1.000000 1.079484 0.911595 -0.000361 2.000000 0.909689 -1.081185 -0.000361 3.000000 0.994587 -0.084795 0.999639 +LANDMARK 0.850000 0.000000 1.079484 0.911595 -0.000361 1.000000 0.909689 -1.081185 -0.000361 2.000000 1.990976 -0.169693 0.999639 IMU 0.855000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.860000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.865000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 @@ -197,7 +197,7 @@ IMU 0.885000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.890000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.895000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.900000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 -LANDMARK 0.900000 1.000000 1.083810 0.906196 -0.000405 2.000000 0.904053 -1.085709 -0.000405 3.000000 0.993932 -0.089757 0.999595 +LANDMARK 0.900000 0.000000 1.083810 0.906196 -0.000405 1.000000 0.904053 -1.085709 -0.000405 2.000000 1.989885 -0.179635 0.999595 IMU 0.905000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.910000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.915000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 @@ -208,7 +208,7 @@ IMU 0.935000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.940000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.945000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.950000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 -LANDMARK 0.950000 1.000000 1.088097 0.900777 -0.000451 2.000000 0.898383 -1.090205 -0.000451 3.000000 0.993240 -0.094714 0.999549 +LANDMARK 0.950000 0.000000 1.088097 0.900777 -0.000451 1.000000 0.898383 -1.090205 -0.000451 2.000000 1.988731 -0.189571 0.999549 IMU 0.955000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.960000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.965000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 @@ -219,7 +219,7 @@ IMU 0.985000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.990000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 0.995000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 1.000000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 -LANDMARK 1.000000 1.000000 1.092344 0.895338 -0.000500 2.000000 0.892677 -1.094670 -0.000500 3.000000 0.992510 -0.099666 0.999500 +LANDMARK 1.000000 0.000000 1.092344 0.895338 -0.000500 1.000000 0.892677 -1.094670 -0.000500 2.000000 1.987515 -0.199500 0.999500 IMU 1.005000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 1.010000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 1.015000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 @@ -230,7 +230,7 @@ IMU 1.035000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 1.040000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 1.045000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 1.050000 0.000000 0.000000 0.100000 0.005000 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0.000000 9.811000 IMU 99.760000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 99.765000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 @@ -21955,7 +21955,7 @@ IMU 99.785000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 99.790000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 99.795000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 99.800000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 -LANDMARK 99.800000 1.000000 2.179359 3.653313 -4.980020 2.000000 3.233623 5.352880 -4.980020 3.000000 2.706491 4.503096 -3.980020 +LANDMARK 99.800000 0.000000 2.179359 3.653313 -4.980020 1.000000 3.233623 5.352880 -4.980020 2.000000 1.856708 5.030228 -3.980020 IMU 99.805000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 99.810000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 99.815000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 @@ -21966,7 +21966,7 @@ IMU 99.835000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 99.840000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 99.845000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 99.850000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 -LANDMARK 99.850000 1.000000 2.198934 3.646988 -4.985011 2.000000 3.261683 5.341262 -4.985011 3.000000 2.730308 4.494125 -3.985011 +LANDMARK 99.850000 0.000000 2.198934 3.646988 -4.985011 1.000000 3.261683 5.341262 -4.985011 2.000000 1.883171 5.025499 -3.985011 IMU 99.855000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 99.860000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 99.865000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 @@ -21977,7 +21977,7 @@ IMU 99.885000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 99.890000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 99.895000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 99.900000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 -LANDMARK 99.900000 1.000000 2.218488 3.640559 -4.990005 2.000000 3.289695 5.329498 -4.990005 3.000000 2.754091 4.485028 -3.990005 +LANDMARK 99.900000 0.000000 2.218488 3.640559 -4.990005 1.000000 3.289695 5.329498 -4.990005 2.000000 1.909622 5.020632 -3.990005 IMU 99.905000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 99.910000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 99.915000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 @@ -21988,7 +21988,7 @@ IMU 99.935000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 99.940000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 99.945000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 99.950000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 -LANDMARK 99.950000 1.000000 2.238020 3.634025 -4.995001 2.000000 3.317658 5.317587 -4.995001 3.000000 2.777839 4.475806 -3.995001 +LANDMARK 99.950000 0.000000 2.238020 3.634025 -4.995001 1.000000 3.317658 5.317587 -4.995001 2.000000 1.936058 5.015625 -3.995001 IMU 99.955000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 99.960000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 IMU 99.965000 0.000000 0.000000 0.100000 0.005000 0.000000 9.811000 diff --git a/inekf_ros/include/InEKF_ROS.h b/inekf_ros/include/InEKF_ROS.h index 95bbe40..d4f9360 100644 --- a/inekf_ros/include/InEKF_ROS.h +++ b/inekf_ros/include/InEKF_ROS.h @@ -33,13 +33,14 @@ class InEKF_ROS { std::thread filtering_thread_; std::thread output_thread_; Queue> m_queue_; - tf::StampedTransform camera_to_imu_transform_; + std::string imu_frame_id_; std::string map_frame_id_; + tf::StampedTransform camera_to_imu_transform_; bool publish_landmark_measurement_markers_; - ros::Publisher landmark_measurement_vis_pub_; bool publish_landmark_position_markers_; bool publish_trajectory_markers_; + ros::Publisher landmark_measurement_vis_pub_; void subscribe(); diff --git a/inekf_ros/src/InEKF_ROS.cpp b/inekf_ros/src/InEKF_ROS.cpp index 4844b75..396bb5b 100644 --- a/inekf_ros/src/InEKF_ROS.cpp +++ b/inekf_ros/src/InEKF_ROS.cpp @@ -269,17 +269,33 @@ void InEKF_ROS::publishLandmarkMeasurementMarkers(shared_ptrgetData(); + mapIntVector3d prior_landmarks = filter_.getPriorLandmarks(); map estimated_landmarks = filter_.getEstimatedLandmarks(); for (auto it=measured_landmarks.begin(); it!=measured_landmarks.end(); ++it) { - auto search = estimated_landmarks.find(it->first); - if (search == estimated_landmarks.end()) { continue; } - landmark_point.x = X(0,search->second); - landmark_point.y = X(1,search->second); - landmark_point.z = X(2,search->second); - landmark_measurement_msg.points.push_back(base_point); - landmark_measurement_msg.points.push_back(landmark_point); + // Search through prior landmarks + auto search_prior = prior_landmarks.find(it->first); + if (search_prior != prior_landmarks.end()) { + landmark_point.x = search_prior->second(0); + landmark_point.y = search_prior->second(1); + landmark_point.z = search_prior->second(2); + landmark_measurement_msg.points.push_back(base_point); + landmark_measurement_msg.points.push_back(landmark_point); + continue; + } + // Search through estimated landmarks + auto search_estimated = estimated_landmarks.find(it->first); + if (search_estimated != estimated_landmarks.end()) { + landmark_point.x = X(0,search_estimated->second); + landmark_point.y = X(1,search_estimated->second); + landmark_point.z = X(2,search_estimated->second); + landmark_measurement_msg.points.push_back(base_point); + landmark_measurement_msg.points.push_back(landmark_point); + continue; + } } + // Publish landmark_measurement_vis_pub_.publish(landmark_measurement_msg); } @@ -412,8 +428,36 @@ void InEKF_ROS::outputPublishingThread() { state_pub.publish(state_msg); // Create and send markers for landmark visualization + mapIntVector3d prior_landmarks = filter_.getPriorLandmarks(); if (publish_landmark_position_markers_) { visualization_msgs::MarkerArray landmark_vis_msg; + // Add prior landmarks + for (auto it=prior_landmarks.begin(); it!=prior_landmarks.end(); ++it) { + visualization_msgs::Marker marker; + marker.header.frame_id = map_frame_id_; + marker.header.stamp = ros::Time::now(); + marker.header.seq = seq; + marker.ns = "landmarks"; + marker.id = it->first; + marker.type = visualization_msgs::Marker::SPHERE; + marker.action = visualization_msgs::Marker::ADD; + marker.pose.position.x = it->second(0); + marker.pose.position.y = it->second(1); + marker.pose.position.z = it->second(2); + marker.pose.orientation.x = 0.0; + marker.pose.orientation.y = 0.0; + marker.pose.orientation.z = 0.0; + marker.pose.orientation.w = 1.0; + marker.scale.x = 0.1; + marker.scale.y = 0.1; + marker.scale.z = 0.1; + marker.color.a = 1.0; // Don't forget to set the alpha! + marker.color.r = 0.0; + marker.color.g = 1.0; + marker.color.b = 1.0; + landmark_vis_msg.markers.push_back(marker); + } + // Add estimated landmarks for (auto it=estimated_landmarks.begin(); it!=estimated_landmarks.end(); ++it) { visualization_msgs::Marker marker; marker.header.frame_id = map_frame_id_;