From: Henrique Scharlau Coelho <henriquescharlaucoelho@gmail.com>
Date: Sun, 3 Dec 2023 19:55:53 +0000 (-0300)
Subject: localization with imu orientation and ground_truth pos
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=da28d4bc3cf6001faee6baeeb87f7609649bb965;p=twil.git

localization with imu orientation and ground_truth pos

the linear acceleration of the imu was not added because it didn't
perform properly.
---

diff --git a/twil_2dnav/config/ekf_params.yaml b/twil_2dnav/config/ekf_params.yaml
index a7edce8..e45245c 100644
--- a/twil_2dnav/config/ekf_params.yaml
+++ b/twil_2dnav/config/ekf_params.yaml
@@ -23,19 +23,20 @@ ekf_filter_node:
         #                true, true, false,
         #                false, false, true,
         #                false, false, false]
-        odom0_config: [true,  true,  false,
-                       false, false, true,
+        odom0_config: [true, true,  false,
                        false, false, false,
+                       true,  true, false,
                        false, false, false,
                        false, false, false]
         
-        # imu0: sensor/imu
+        imu0: sensor/imu
         # robot localization recommendation
-        # imu0_config: [false, false, false,
-        #               false, false, true,
-        #               false, false, false,
-        #               false, false, true,
-        #               true, false, false]
+        imu0_config: [false, false, false,
+                      false, false, true,
+                      false, false, false,
+                      false, false, true,
+                      false,  false, false]
+        # a localizaçao pela aceleracao do imu nao é boa. testei só com ela e ficou terrivel e ao fundir, piorou o do ground_truth
         # nav2 docs recommendation
         # imu0_config: [false, false, false,
         #               true,  true,  true,
diff --git a/twil_2dnav/launch/nav2_navigator.launch.xml b/twil_2dnav/launch/nav2_navigator.launch.xml
index 654c191..732d64c 100644
--- a/twil_2dnav/launch/nav2_navigator.launch.xml
+++ b/twil_2dnav/launch/nav2_navigator.launch.xml
@@ -60,7 +60,7 @@
 
     <node pkg="robot_localization" exec="ekf_node" name="ekf_filter_node">
         <param name="use_sim_time" value="$(var use_sim_time)"/>
-        <param name="odom0" value="$(var controller)/odom"/>
+        <param name="odom0" value="/ground_truth"/>
         <param from="$(find-pkg-share twil_2dnav)/config/ekf_params.yaml"/>
     </node>
 
diff --git a/twil_description/launch/gazebo.launch.xml b/twil_description/launch/gazebo.launch.xml
index 1f53b26..abeefac 100644
--- a/twil_description/launch/gazebo.launch.xml
+++ b/twil_description/launch/gazebo.launch.xml
@@ -43,5 +43,5 @@
 		<arg name="gps" value="$(var gps)"/>
 	</include>
 
-	<node name="twil_spawner" pkg="gazebo_ros" exec="spawn_entity.py" args="-topic robot_description -entity twil"/>
+	<node name="twil_spawner" pkg="gazebo_ros" exec="spawn_entity.py" args="-topic robot_description -entity twil -timeout 60"/>
 </launch>