SJSU-AD / test_gsl

Learn by doing - GNU Scientific Library, and Generating Covariance Matrices for Kalman Filters

test_gsl AKA covar

0. First things

Ensure that gsl is installed: sudo apt-get install libgsl2 libgsl-dev libgsl-dbg gsl-bin

1. Getting the package

Do the following to add to the src of your ROS workspace (i.e. catkin_ws if you kept the dirname from ROS tutorial), almost as you would any other package - we're going to give this repo's dirname "covar" instead of "test_gsl".

• cd path/to/catkin_ws/src; git clone https://github.com/ntwong0/test_gsl.git covar

2. Installation

catkin_make as usual:

• cd path/to/catkin_ws; catkin_make

You already have the loam_velodyne package installed, right?

3. Running

No launch file has yet been prepared, so use rosrun instead, and don't forget to source the setup.bash file:

• cd path/to/catkin_ws; source devel/setup.bash
• rosrun covar covar_node

4. Service calls - this is why you "bought" it

Generate the covariance matrix with the following:

• For pose only, 100 samples
  • rosservice call /gen_pose_covar 100
• For twist only, 100 samples
  • rosservice call /gen_twist_covar 100
• For pose and twist, 100 samples pose and 200 samples twist
  • rosservice call /gen_both_covar 100 200

999. Dummy compilation note:

To compile, do the following:

g++ -std=c++11 src/file.cpp -lgsl -lgslcblas -Iinclude

Header files of the gsl library are located at /usr/include/gsl