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* Gazebo simulation * RosInputProviderSuite.testImuToPoseSensor
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model { | ||
Gravity { | ||
used true | ||
magnitude 9.81 | ||
} | ||
frames "body,world" | ||
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pose { | ||
frame body | ||
targetFrame world | ||
invertInput false | ||
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// topic "/firefly/vi_sensor/ground_truth/transform" | ||
topic "/firefly/odometry_sensor1/transform" | ||
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covPosition { sigma 0.001 } | ||
covOrientation { sigma 0.001 } | ||
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absoluteMeasurements true | ||
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rotation { used false } | ||
translation { used false } | ||
delay { used false } | ||
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mestimator | ||
{ | ||
name "Cauchy" | ||
cauchySigma2 "1" | ||
} | ||
} | ||
imu { | ||
used true | ||
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frame body | ||
inertiaFrame world | ||
topic "/firefly/vi_sensor/imu" | ||
// topic "/firefly/imu" | ||
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acc { | ||
used true | ||
hasBias true | ||
biasVector { | ||
x 0 | ||
y 0 | ||
z 0 | ||
} | ||
noise { | ||
accXVariance 0.01 | ||
accYVariance 0.01 | ||
accZVariance 0.01 | ||
accRandomWalk 4e-3 | ||
} | ||
enforceCovariance true | ||
} | ||
gyro { | ||
used true | ||
hasBias true | ||
biasVector { | ||
x 0 | ||
y 0 | ||
z 0 | ||
} | ||
noise { | ||
gyroXVariance 0.001 | ||
gyroYVariance 0.001 | ||
gyroZVariance 0.001 | ||
gyroRandomWalk 4e-3 | ||
} | ||
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enforceCovariance true | ||
} | ||
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rotation { | ||
yaw 0 | ||
pitch 0 | ||
roll 0 | ||
} | ||
translation { | ||
x 0 | ||
y 0 | ||
z 0 | ||
} | ||
delay 0.005 | ||
{ | ||
used true | ||
relativeBounds true | ||
upperBound 0.1 | ||
lowerBound -0.1 | ||
} | ||
} | ||
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traj { | ||
frame body | ||
referenceFrame world | ||
initWithPoseMeasurements true | ||
McSensor pose | ||
splines { | ||
knotsPerSecond 100 | ||
rotSplineOrder 4 | ||
rotFittingLambda 0.0000001 | ||
transSplineOrder 4 | ||
transFittingLambda 0.000000001 | ||
} | ||
} | ||
} | ||
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calibrator { | ||
verbose true | ||
timeBaseSensor pose | ||
estimator { | ||
optimizer { | ||
maxIterations 150 | ||
convergenceDeltaError 1e-6 | ||
convergenceDeltaX 1e-6 | ||
} | ||
} | ||
} |