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imu_augmentor package from astrobee repo

astrobee arm dock light_flow perch states dds_msgs dds_ros_bridge ff_hw_msgs ff_msgs ground_dds_ros_bridge description ctl fam pmc eps_driver epson_imu fam_cmd_i2c ff_serial flashlight gpio i2c is_camera laser perching_arm pico_driver pmc_actuator signal_lights smart_dock speed_cam temp_monitor vive camera depth_odometry graph_localizer graph_optimizer ground_truth_localizer handrail_detect imu_augmentor imu_integration interest_point lk_optical_flow localization_common localization_manager localization_measurements localization_node marker_tracking optimization_common point_cloud_common sparse_mapping vision_common vive_localization access_control cpu_mem_monitor data_bagger disk_monitor executive image_sampler log_monitor sys_monitor choreographer framestore mapper mobility planner_qp traj_opt_basic traj_opt_msgs traj_opt_pro traj_opt_ros planner_trapezoidal config_reader ff_common ff_util jsonloader msg_conversions astrobee_gazebo bag_processing calibration gds_helper gnc_visualizer imu_bias_tester interactive_marker_teleop localization_analysis localization_rviz_plugins performance_tester

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.0.0
License Apache License, Version 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/nasa/astrobee.git
VCS Type git
VCS Version master
Last Updated 2023-04-04
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Imu augmentor package

Additional Links

No additional links.

Maintainers

  • Astrobee Flight Software

Authors

  • Astrobee Flight Software
localization/imu_augmentor/readme.md

\page imuaugmentor Imu Augmentor

Package Overview

The imu augmentor extrapolates a localization estimate with imu data. This is useful in order to "catch up" the latest localization estimate to current time, for use with a planner or other module. The imu augmentor uses an ImuIntegrator object to maintain a history of imu measurements and integrate up to the most recent imu measurement. Imu biases are reset on receival of localization estimates to more accurately integrate measurements.

Ros Node

The ros node subscribes to the localization estimate and publishes an updated imu augmented localization estimate. It also fills in the latest acceleration and angular velocity. The augmentor also publishes the latest pose and twist as respective messages.

Inputs

  • /hw/imu
  • graph_loc/state

Outputs

  • gnc/ekf
  • loc/pose
  • loc/twist
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps Name
1 nodelet
1 ff_util
1 imu_integration
1 localization_common
1 localization_measurements
1 catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Repo Deps
localization_analysis github-nasa-astrobee

Launch files

  • launch/imu_augmentor.launch
    • Copyright (c) 2017, United States Government, as represented by the
      • name [default: imu_augmentor]
      • manager [default: ]
      • terminal [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged imu_augmentor at answers.ros.org

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imu_augmentor package from astrobee repo

astrobee arm dock light_flow perch states dds_msgs dds_ros_bridge ff_hw_msgs ff_msgs ground_dds_ros_bridge description ctl fam pmc eps_driver epson_imu fam_cmd_i2c ff_serial flashlight gpio i2c is_camera laser perching_arm pico_driver pmc_actuator signal_lights smart_dock speed_cam temp_monitor vive camera depth_odometry graph_localizer graph_optimizer ground_truth_localizer handrail_detect imu_augmentor imu_integration interest_point lk_optical_flow localization_common localization_manager localization_measurements localization_node marker_tracking optimization_common point_cloud_common sparse_mapping vision_common vive_localization access_control cpu_mem_monitor data_bagger disk_monitor executive image_sampler log_monitor sys_monitor choreographer framestore mapper mobility planner_qp traj_opt_basic traj_opt_msgs traj_opt_pro traj_opt_ros planner_trapezoidal config_reader ff_common ff_util jsonloader msg_conversions astrobee_gazebo bag_processing calibration gds_helper gnc_visualizer imu_bias_tester interactive_marker_teleop localization_analysis localization_rviz_plugins performance_tester

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.0.0
License Apache License, Version 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/nasa/astrobee.git
VCS Type git
VCS Version master
Last Updated 2023-04-04
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Imu augmentor package

Additional Links

No additional links.

Maintainers

  • Astrobee Flight Software

Authors

  • Astrobee Flight Software
localization/imu_augmentor/readme.md

\page imuaugmentor Imu Augmentor

Package Overview

The imu augmentor extrapolates a localization estimate with imu data. This is useful in order to "catch up" the latest localization estimate to current time, for use with a planner or other module. The imu augmentor uses an ImuIntegrator object to maintain a history of imu measurements and integrate up to the most recent imu measurement. Imu biases are reset on receival of localization estimates to more accurately integrate measurements.

Ros Node

The ros node subscribes to the localization estimate and publishes an updated imu augmented localization estimate. It also fills in the latest acceleration and angular velocity. The augmentor also publishes the latest pose and twist as respective messages.

Inputs

  • /hw/imu
  • graph_loc/state

Outputs

  • gnc/ekf
  • loc/pose
  • loc/twist
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps Name
1 nodelet
1 ff_util
1 imu_integration
1 localization_common
1 localization_measurements
1 catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Repo Deps
localization_analysis github-nasa-astrobee

Launch files

  • launch/imu_augmentor.launch
    • Copyright (c) 2017, United States Government, as represented by the
      • name [default: imu_augmentor]
      • manager [default: ]
      • terminal [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged imu_augmentor at answers.ros.org