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Shuo
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update datasets
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‎README.md

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@@ -39,10 +39,14 @@ roslaunch vilo run_campus_bag_vilo.launch
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```shell
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roslaunch vilo run_track_bag_vilo.launch
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```
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4. cut.bag
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```shell
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roslaunch vilo run_cut_bag_vilo.launch
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```
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4. outdoor_snow.bag. The bag contains sensor data collected during the snow walking run shown in the second video above.
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5. outdoor_snow.bag. The bag contains sensor data collected during the snow walking run shown in the second video above.
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5. indoor_with_ground_truth_1.bag. The robot moves forward and back quickly. Groundtruh data is
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6. indoor_with_ground_truth_1.bag. The robot moves forward and back quickly. Groundtruh data is
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Notice the rosbag play should be slow down for slow computers, otherwise the VILO cannot finish computation in time. In the launch files we play them at 0.5x original speed.
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‎config/go1_config/hardware_go1_vilo_config_dense.yaml

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%YAML:1.0
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#common parameters
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#support: 1 imu 1 cam; 1 imu 2 cam: 2 cam;
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imu: 1
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num_of_cam: 2
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imu_topic: "/hardware_go1/imu"
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image0_topic: "/camera_forward/infra1/image_rect_raw"
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image1_topic: "/camera_forward/infra2/image_rect_raw"
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output_path: "/root/vilo_ws/src/vilo/output"
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cam0_calib: "go1_realsense_left.yaml"
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cam1_calib: "go1_realsense_right.yaml"
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image_width: 424
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image_height: 240
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# leg related
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robot_type: "go1" # should be go1 or a1
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dataset_name: "cut" # to keep track of datasets
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use_leg_odom: 1
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num_of_leg: 4
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leg_topic: "/hardware_go1/joint_foot"
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optimize_leg_bias: 1
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joint_angle_n: 0.00001
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joint_velocity_n: 0.00001
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contact_sensor_type: 2 # 0 use KF output; 1 use plan contact; 2 use foot force sensor reading (then a complicated force model is needed)
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leg_bias_c_n: 0.00000001
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leg_bias_nc_n: 0.00000000001
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# contact model
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v_n_force_thres_ratio: 0.8
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v_n_min_xy: 0.001
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v_n_min_z: 0.005
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v_n_min: 0.005
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v_n_max: 900.0
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# v_n_w1: 0.333
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# v_n_w2: 0.333
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# v_n_w3: 0.333
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v_n_term1_steep: 10
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v_n_term2_var_rescale: 1.0e-6
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v_n_term3_distance_rescale: 1.0e-3
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v_n_final_ratio: 0.1
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# leg kinematics parameter
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lower_leg_length: 0.21
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# Extrinsic parameter between IMU and Camera.
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estimate_extrinsic: 0 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it.
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# 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess.
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body_T_cam0: !!opencv-matrix
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rows: 4
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cols: 4
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dt: d
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data: [ 0, 0, 1, 0.24,
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-1, 0, 0, 0.025,
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0, -1, 0, 0.1114,
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0., 0., 0., 1. ]
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body_T_cam1: !!opencv-matrix
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rows: 4
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cols: 4
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dt: d
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data: [ 0, 0, 1, 0.24,
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-1, 0, 0, -0.025,
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0, -1, 0, 0.1114,
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0., 0., 0., 1. ]
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#Multiple thread support
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multiple_thread: 1
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#feature traker paprameters
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max_cnt: 250 # max feature number in feature tracking
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min_dist: 7 # min distance between two features
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freq: 15 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image
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F_threshold: 1.0 # ransac threshold (pixel)
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show_track: 1 # publish tracking image as topic
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flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy
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#optimization parameters
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max_solver_time: 0.1 # max solver itration time (ms), to guarantee real time
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max_num_iterations: 12 # max solver itrations, to guarantee real time
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keyframe_parallax: 10.0 # keyframe selection threshold (pixel)
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#imu parameters The more accurate parameters you provide, the better performance
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acc_n: 1.0 # accelerometer measurement noise standard deviation. #0.2 0.04
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acc_n_z: 5.0
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gyr_n: 0.1 # gyroscope measurement noise standard deviation. #0.05 0.004
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acc_w: 0.0004 # accelerometer bias random work noise standard deviation. #0.002
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gyr_w: 0.0002 # gyroscope bias random work noise standard deviation. #4.0e-5
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g_norm: 9.805 # gravity magnitude
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#unsynchronization parameters
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estimate_td: 0 # online estimate time offset between camera and imu
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td: 0.00240 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock)
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#loop closure parameters
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load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path'
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pose_graph_save_path: "/root/vilo_ws/src/vilo/output/pose_graph/" # save and load path
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save_image: 0 # save image in pose graph for visualization prupose; you can close this function by setting 0

‎launch/dataset/run_cut_bag_vilo.launch

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<launch>
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<param name="/use_sim_time" value="true"/>
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<!-- VILO config -->
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<param name="vilo_config_file" type="string" value="$(find vilo)/config/go1_config/hardware_go1_vilo_config_dense.yaml" />
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<node name="vilo" pkg="vilo" type="vilo"
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args="$(find vilo)/config/go1_config/hardware_go1_vilo_config_dense.yaml" output="screen"/>
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<node name="vinsloopfusion" pkg="loop_fusion" type="loop_fusion_node"
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args="$(find vilo)/config/go1_config/hardware_go1_vilo_config_dense.yaml" />
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<node pkg="tf" type="static_transform_publisher" name="ground_to_world"
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args="0.0 0.0 0.28 0.0 0.0 0.0 /a1_world /world 1000" />
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<node pkg="tf" type="static_transform_publisher" name="body_to_a1_body"
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args="-0.0 0.0 -0.0 0.0 0.0 0.0 /body /a1_body 1000" />
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<node pkg="tf" type="static_transform_publisher" name="base_to_a1_body"
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args="-0.0 0.0 -0.0 0.0 0.0 0.0 /a1_body /base 1000" />
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<!-- visualization using robot description -->
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<param name="robot_description" textfile="$(find vilo)/urdf/a1_description/urdf/a1.urdf" />
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<remap from="/joint_states" to="/a1_filterd_joint" />
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<arg name="node_start_delay" default="1.0" />
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<node pkg="rosbag" type="play" name="player" output="screen" args="--clock -r 0.5 $(find vilo)/bags/cut.bag" launch-prefix="bash -c 'sleep $(arg node_start_delay); $0 $@' " />
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</launch>

‎launch/hardware_go1/hardware_go1_vilo.launch

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<node name="vinsloopfusion" pkg="loop_fusion" type="loop_fusion_node"
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args="$(find vilo)/config/go1_config/hardware_go1_vilo_config.yaml" />
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<!-- new config when the robot chassis is on the ground, imu is 142mm above the ground, publish a fix transformation -->
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<node pkg="tf" type="static_transform_publisher" name="ground_to_world"
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args="0.0 0.0 0.15 0.0 0.0 0.0 /a1_world /world 1000" />
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args="0.0 0.0 0.28 0.0 0.0 0.0 /a1_world /world 1000" />
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<node pkg="tf" type="static_transform_publisher" name="body_to_a1_body"
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args="-0.0 0.0 -0.0 0.0 0.0 0.0 /body /a1_body 1000" />
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<node pkg="tf" type="static_transform_publisher" name="base_to_a1_body"
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args="-0.0 0.0 -0.0 0.0 0.0 0.0 /a1_body /base 1000" />
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<!-- <node pkg="tf" type="static_transform_publisher" name="camera_to_downward_camera"
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args="0.0 0.1152 0.0 0.0 0.0 -0.785398 /camera /camera_downward_depth_optical_frame 1000" /> -->
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<!-- visualization using robot description -->
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<param name="robot_description" textfile="$(find vilo)/urdf/a1_description/urdf/a1.urdf" />

‎launch/hardware_go1/hardware_go1_vins.launch

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<node name="vinsloopfusion" pkg="loop_fusion" type="loop_fusion_node"
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args="$(find vilo)/config/go1_config/hardware_go1_vins_config.yaml" />
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<!-- new config when the robot chassis is on the ground, imu is 142mm above the ground, publish a fix transformation -->
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<node pkg="tf" type="static_transform_publisher" name="ground_to_world"
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args="0.0 0.0 0.15 0.0 0.0 0.0 /a1_world /world 1000" />
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args="0.0 0.0 0.28 0.0 0.0 0.0 /a1_world /world 1000" />
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<node pkg="tf" type="static_transform_publisher" name="body_to_a1_body"
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args="-0.0 0.0 -0.0 0.0 0.0 0.0 /body /a1_body 1000" />
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<node pkg="tf" type="static_transform_publisher" name="base_to_a1_body"
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args="-0.0 0.0 -0.0 0.0 0.0 0.0 /a1_body /base 1000" />
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<!-- <node pkg="tf" type="static_transform_publisher" name="camera_to_downward_camera"
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args="0.0 0.1152 0.0 0.0 0.0 -0.785398 /camera /camera_downward_depth_optical_frame 1000" /> -->
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<!-- visualization using robot description -->
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<param name="robot_description" textfile="$(find vilo)/urdf/a1_description/urdf/a1.urdf" />
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<remap from="/joint_states" to="/a1_filterd_joint" />

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