|
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
Additional Links
Maintainers
- Astrobee Flight Software
Authors
- Astrobee Flight Software
\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
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | nodelet | |
1 | ff_util | |
1 | imu_integration | |
1 | localization_common | |
1 | localization_measurements | |
1 | catkin |
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
Services
Plugins
Recent questions tagged imu_augmentor at answers.ros.org
|
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
Additional Links
Maintainers
- Astrobee Flight Software
Authors
- Astrobee Flight Software
\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
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | nodelet | |
1 | ff_util | |
1 | imu_integration | |
1 | localization_common | |
1 | localization_measurements | |
1 | catkin |
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: ]