Add launch and config files.

diff --git a/config/ekf.yaml b/config/ekf.yaml
new file mode 100644 (file)
index 0000000..a073c30
--- /dev/null
+++ b/config/ekf.yaml
@@ -0,0 +1,5 @@
+# Floating point numbers in YAML require the dot, even if using "e".
+
+P: [1.0e6, 1.0e6, 1.0e6, 1.0e6, 1.0e6, 1.0e6, 1.0e6]
+Pw: [7.47601e-07, 7.47601e-07, 7.47601e-07, 7.47601e-07, 0.00274156, 0.00274156, 0.00274156]
+Pv: [0.000173706, 0.000173706, 0.000173706, 1.0e-12, 1.0e-12, 1.96e-12]

diff --git a/launch/display.launch b/launch/display.launch
new file mode 100644 (file)
index 0000000..e00cb3f
--- /dev/null
+++ b/launch/display.launch
@@ -0,0 +1,15 @@
+<launch>
+       <arg name="config" default="$(find imufusion_ros)/config/ekf.yaml"/>
+
+       <include file="$(find imufusion_ros)/launch/ekf.launch">
+               <arg name="config" value="$(arg config)"/>
+       </include>
+
+       <node pkg="tf2_ros" type="static_transform_publisher"
+               name="enu_publisher"
+               args="0 0 0 0 0 0.9238795 0.3826834 map enu_link" />
+       <node pkg="imu_odometry" type="imu2tf" name="imu2tf"
+               args="enu_link" output="screen" />
+       <node name="rviz" pkg="rviz" type="rviz"
+               args="-d $(find imufusion_ros)/rviz/display.rviz" />
+</launch>

diff --git a/launch/ekf.launch b/launch/ekf.launch
new file mode 100644 (file)
index 0000000..749fde3
--- /dev/null
+++ b/launch/ekf.launch
@@ -0,0 +1,7 @@
+<launch>
+       <arg name="config" default="$(find imufusion_ros)/config/ekf.yaml"/>
+
+       <node pkg="imufusion_ros" type="ekf" name="ekf" args="ekf_link">
+               <rosparam file="$(arg config)" command="load" />
+       </node>
+</launch>

diff --git a/rviz/display.rviz b/rviz/display.rviz
new file mode 100644 (file)
index 0000000..fd28d11
--- /dev/null
+++ b/rviz/display.rviz
@@ -0,0 +1,170 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded: ~
+      Splitter Ratio: 0.4301801919937134
+    Tree Height: 555
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_plugin_tutorials/Imu
+      Color: 204; 51; 204
+      Enabled: true
+      History Length: 1
+      Name: Imu (data)
+      Queue Size: 10
+      Topic: /imu/data
+      Unreliable: false
+      Value: true
+    - Alpha: 0.10000000149011612
+      Class: rviz_plugin_tutorials/Imu
+      Color: 57; 52; 204
+      Enabled: true
+      History Length: 1
+      Name: Imu (raw data)
+      Queue Size: 10
+      Topic: /imu/data_raw
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Class: rviz/Axes
+      Enabled: true
+      Length: 5
+      Name: Axes (Fixed Frame)
+      Radius: 0.10000000149011612
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/Axes
+      Enabled: true
+      Length: 5
+      Name: Axes (enu_link)
+      Radius: 0.10000000149011612
+      Reference Frame: enu_link
+      Value: true
+    - Alpha: 1
+      Class: rviz/Axes
+      Enabled: true
+      Length: 5
+      Name: Axes (imu_link)
+      Radius: 0.10000000149011612
+      Reference Frame: imu_link
+      Value: true
+    - Alpha: 1
+      Class: rviz/Axes
+      Enabled: true
+      Length: 5
+      Name: Axes (ekf_link)
+      Radius: 0.10000000149011612
+      Reference Frame: ekf_link
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 249; 249; 249
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 24.478668212890625
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: -1.5147979259490967
+        Y: -1.228423833847046
+        Z: 1.93975031375885
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001ba000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000100000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000055c0000003efc0100000002fb0000000800540069006d006501000000000000055c0000023f00fffffffb0000000800540069006d0065010000000000000450000000000000000000000296000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1372
+  X: 0
+  Y: 0