NicolasHHH / Test_Agilex

test sensors and algorithms on agilex prototypes

Scout 二次开发

编译

  cd Test_Agilex/
  catkin_make
  source devel/setup.bash
  rosrun .. / roslaunch .. 

ros依赖

substitue noetic to your own ros-distro : (eg. melodic/kinetic)

  # for gazebo simulation of the vehicle and its control (through the topic cmd_vel) 
  sudo apt-get install ros-noetic-ros-control ros-noetic-ros-controllers

  # gps plugin in gazebo
  sudo apt-get intall ros-noetic-hector-gazebo-plugins

  # <optional> (keyboard control)
  sudo apt-get install ros-noetic-teleop-twist-keyboard

融合定位测试

传感器

• GNSS-RTK/GPS （libhector_gazebo_ros_gps.so)

  <gazebo>
    <plugin name="gazebo_ros_gps" filename="libhector_gazebo_ros_gps.so">
    <updateRate>10.0</updateRate>
    <frameId>base_link</frameId>
    <topicName>/gps/fix</topicName>
    <velocityTopicName>/gps/fix_velocity</velocityTopicName>
          <statusTopicName>/gps/status</statusTopicName>
    <offset>0 0 0</offset>
    <drift>0 0 0</drift>
    <gaussianNoise>0.05 0.05 0.05</gaussianNoise>
    <velocityDrift>0.0001 0.0001 0.0001</velocityDrift>
    <velocityGaussianNoise>0.5 0.5 0.5</velocityGaussianNoise>
  

• IMU (libgazebo_ros_imu_sensor.so)

  <gravity>true</gravity>
  <sensor name="imu_sensor" type="imu">
        <always_on>true</always_on>
        <update_rate>100</update_rate>
        <visualize>true</visualize>
        <topic>imu_topic_name</topic>
        <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
            <topicName>imu</topicName>
            <bodyName>imu_link</bodyName>
            <updateRateHZ>10.0</updateRateHZ>
            <gaussianNoise>0.0</gaussianNoise>
            <xyzOffset>0 0 0</xyzOffset>
            <rpyOffset>0 0 0</rpyOffset>
            <frameName>imu_link</frameName>
            <initialOrientationAsReference>false</initialOrientationAsReference>
        </plugin>
  <pose>0 0 0 0 0 0</pose>
  </sensor>
  

TODOs:

• odom / world->base_link tf
• ground truths poses formatting
• finetune imu, gps, gt frequencies