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imu_bias_tester 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 bias tester package

Additional Links

No additional links.

Maintainers

  • Astrobee Flight Software

Authors

  • Astrobee Flight Software
tools/imu_bias_tester/readme.md

\page imubiastester IMU Bias Tester

ImuBiasTester

The ImuBiasTester integrates IMU measurements using the latest estimated IMU biases from graph_state messages. The integrated measurements are published as pose messages. These poses can then be plotted against localization groundtruth to measure the accuracy of the estimated IMU biases.

Usage

Launch the nodelet online or while playing a recored bagfile using roslaunch imu_bias_tester imu_bias_tester.launch to generated IMU bias poses. Ensure that localization estimates and IMU messages are available as these are required for IMU bias pose estimation. Record the results to a bagfile and plot using the plot_results.py script in localization_analysis. See the localization_analysis readme for more details on plotting results.

Inputs

  • /hw/imu
  • graph_loc/state

Outputs

  • imu_bias_tester/pose
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps Name
2 roscpp
1 nodelet
1 ff_util
1 ff_msgs
1 config_reader
1 imu_integration
1 catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Repo Deps
localization_analysis github-nasa-astrobee

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged imu_bias_tester at answers.ros.org

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imu_bias_tester 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 bias tester package

Additional Links

No additional links.

Maintainers

  • Astrobee Flight Software

Authors

  • Astrobee Flight Software
tools/imu_bias_tester/readme.md

\page imubiastester IMU Bias Tester

ImuBiasTester

The ImuBiasTester integrates IMU measurements using the latest estimated IMU biases from graph_state messages. The integrated measurements are published as pose messages. These poses can then be plotted against localization groundtruth to measure the accuracy of the estimated IMU biases.

Usage

Launch the nodelet online or while playing a recored bagfile using roslaunch imu_bias_tester imu_bias_tester.launch to generated IMU bias poses. Ensure that localization estimates and IMU messages are available as these are required for IMU bias pose estimation. Record the results to a bagfile and plot using the plot_results.py script in localization_analysis. See the localization_analysis readme for more details on plotting results.

Inputs

  • /hw/imu
  • graph_loc/state

Outputs

  • imu_bias_tester/pose
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps Name
2 roscpp
1 nodelet
1 ff_util
1 ff_msgs
1 config_reader
1 imu_integration
1 catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Repo Deps
localization_analysis github-nasa-astrobee

Launch files

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

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged imu_bias_tester at answers.ros.org