AmyPhung / min_variance_calibration

Minimum Variance Calibration

Build Status

Build Dependencies

• https://github.com/davisking/dlib.git (clone to home directory)

Setup

• cd ~/catkin_ws/src
• git clone https://github.com/AmyPhung/min_variance_calibration
• cd ~/catkin_ws/
• rosdep install -iry --from-paths src
• catkin build

Usage

• Requires properly formatted initial params yaml file, bag containing calibration data & robot_description
• rosrun min_variance_calibration RunCalibrationServer
• rosrun min_variance_calibration calibration_bridge.py

Debugging

• rosrun tf view_frames
• killall -9 rviz
• killall -9 roscore
• killall -9 rosmaster
• rosmsg show PointLabeled
• known bug: when ROS time jumps backwards (i.e. when the bag restarts), the tfs don't like that - when this happens, just close everything and re-run
• To debug docker build
  • sudo docker ps -a
  • sudo docker commit 6934ada98de6 (change number based on ps -a output)
  • sudo docker run -it 7015687976a4 bash -il (change number based on commit output)
  • source /opt/ros/melodic/setup.bash (needed to run catkin_make)
  • after navigating to correct directory catkin_make
  • Ctrl + d to logout

TODO:

• Document launch files, scripts
• Add node args
• Add args for sim time/make sure it works realtime
• create shared functions
• synchronize calibration data collection
• create launch files
• document data formats
• somehow determine effect of encoder noise
• Add back in fisheye tf
• add orientation as calibration data