Iss 196 #197
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* Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Added new installation steps to bash script, added new message def for planning * Naming convention Clean up for control stack, revised debugging data collection mechanism * Update src/modules/interface/msg/Waypoint.msg Co-Authored-By: menson168 <menson168@gmail.com> * Iss 120 (#121) * Refactored Localization folders and made (potential) gpf fix * Fixed file endings * Working on updating normal calculation method * New normal estimation method * New Gpf method * Gpf final cleanup and stable build * Added comments to segmenter_node * Kalman Filter Code * Removed unused Kalman Filter code * Moving Median Filter Wheel Odometry (#117) * yes yes * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Changed imu tf from 105 deg to 90 deg * Updated ardu_adapter.py structure and included TODO to address subscriber frequency issue with steering operation * Update changes * Adding Wheel Odometry node along with velocity covariance collection python script. Arduino code included for getting data from SIGNWISE 600 pulse/rev quadrature encoder. Monitoring change in pulse for interrupts for four times the resolution (2400 pulse/rev). * Update src/modules/control/src/ardu_adapter.py Co-Authored-By: joeyzhu00 <joeyzhu00@gmail.com> * Added Loam and test_gsl into repo * Editing the ext_package_build.sh file * Fixing commenting error in the ardu_adapter.py code and inclusion of robot_localization package in the utility folder * Removed Robot local pkg * Putting robot_localization pkg back in * Iss 104 (#112) * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Added new installation steps to bash script, added new message def for planning * Naming convention Clean up for control stack, revised debugging data collection mechanism * Update src/modules/interface/msg/Waypoint.msg Co-Authored-By: menson168 <menson168@gmail.com> * Fixed zero gain bug, tested in unit test * Changed Test code to using near for decimal prceision, Test ran and passed all cases * Modify localization support scripts * Including a moving median filter to the wheel odometry * Adding support script for the EKF package to conform to ROS sensor_msgs standards in a yaw=0 pointing East ENU frame. * Cleaning up file names * Changing file names and limited the serial bus load in terms of bit rate by changing data types used * Changing Moving Median Filter to Median Filter * Implementation of derivative control * Missed git changes scripts in code * Fixing ISS-126 (#127) * Conducted all unit tests, passed * Add odometry message (#128) * Iss 122 (#125) * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Added new installation steps to bash script, added new message def for planning * Naming convention Clean up for control stack, revised debugging data collection mechanism * Update src/modules/interface/msg/Waypoint.msg Co-Authored-By: menson168 <menson168@gmail.com> * Implementation of derivative control * Missed git changes scripts in code * Conducted all unit tests, passed * Fixed spelling error in test comments * Work in progress for ISS-123 * Addition of the yaw calibration to the Wheel Odometry code * Iss 123 (#137) * Work in progress for ISS-123 * Addition of the yaw calibration to the Wheel Odometry code * Iss 134 (#138) * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Added new installation steps to bash script, added new message def for planning * Naming convention Clean up for control stack, revised debugging data collection mechanism * Update src/modules/interface/msg/Waypoint.msg Co-Authored-By: menson168 <menson168@gmail.com> * Implementation of derivative control * Missed git changes scripts in code * Conducted all unit tests, passed * Receive covariance as input * Fix time delta nan published message * Initial covariance input to odom message * Adding fixes to Wheel Odometry and GPS_Pose to publish appropriate messages to robot_localization * Updated geodesy subscriber and added more comments to the odometry code (#147) * Iss 114 (#145) * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Added new installation steps to bash script, added new message def for planning * Naming convention Clean up for control stack, revised debugging data collection mechanism * Update src/modules/interface/msg/Waypoint.msg Co-Authored-By: menson168 <menson168@gmail.com> * Implementation of derivative control * Missed git changes scripts in code * Conducted all unit tests, passed * Initial test * Place tests in test directory * Switch to rostest * Add setup and teardown * Prep for geodesy modifications * Initial framework for gps_parser tests * Fix build bug * Update README * Add ease of import * Add parser tests * Change static variables to instance variables * Iss 148 (#149) * Updated geodesy subscriber and added more comments to the odometry code * Made organizational changes along with the addition of a launch file for remote control testing * Revert "Iss 99 (#103)" This reverts commit ded75134d4847d49fb4e03150f2abbfa57b8b19f. * Revert "Revert "Iss 99 (#103)"" This reverts commit b818a7adacac35b00555c83f624b3846f3be70db. * Revert "Revert "Revert "Iss 99 (#103)""" This reverts commit 27a17dc938824adf0a15c6b4a92d94daf359c98b. * Revert "Revert "Revert "Revert "Iss 99 (#103)"""" This reverts commit dce4b0ef0672fc8142e7c0723753649db6bf6f92. * Revert "Revert "Revert "Iss 99 (#103)""" This reverts commit 27a17dc938824adf0a15c6b4a92d94daf359c98b. * Iss 133 (#150) * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Added new installation steps to bash script, added new message def for planning * Naming convention Clean up for control stack, revised debugging data collection mechanism * Update src/modules/interface/msg/Waypoint.msg Co-Authored-By: menson168 <menson168@gmail.com> * Implementation of derivative control * Missed git changes scripts in code * Conducted all unit tests, passed * Change static variables to instance variables * Revert "Iss 99 (#103)" This reverts commit ded75134d4847d49fb4e03150f2abbfa57b8b19f. * Revert "Revert "Iss 99 (#103)"" This reverts commit b818a7adacac35b00555c83f624b3846f3be70db. * Revert "Revert "Revert "Iss 99 (#103)""" This reverts commit 27a17dc938824adf0a15c6b4a92d94daf359c98b. * Revert "Revert "Revert "Revert "Iss 99 (#103)"""" This reverts commit dce4b0ef0672fc8142e7c0723753649db6bf6f92. * Revert "Revert "Revert "Iss 99 (#103)""" This reverts commit 27a17dc938824adf0a15c6b4a92d94daf359c98b. * Add read only access to constants * Add initial excpetions for geodesy * Add read tests for geodesy * Add write access tests for geodesy * Update comments * Remove unnecessary custom errors * Iss 153 (#154) * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Added new installation steps to bash script, added new message def for planning * Naming convention Clean up for control stack, revised debugging data collection mechanism * Update src/modules/interface/msg/Waypoint.msg Co-Authored-By: menson168 <menson168@gmail.com> * ISS 123 (#135) * Iss 120 (#121) * Refactored Localization folders and made (potential) gpf fix * Fixed file endings * Working on updating normal calculation method * New normal estimation method * New Gpf method * Gpf final cleanup and stable build * Added comments to segmenter_node * Kalman Filter Code * Removed unused Kalman Filter code * Moving Median Filter Wheel Odometry (#117) * yes yes * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Changed imu tf from 105 deg to 90 deg * Updated ardu_adapter.py structure and included TODO to address subscriber frequency issue with steering operation * Update changes * Adding Wheel Odometry node along with velocity covariance collection python script. Arduino code included for getting data from SIGNWISE 600 pulse/rev quadrature encoder. Monitoring change in pulse for interrupts for four times the resolution (2400 pulse/rev). * Update src/modules/control/src/ardu_adapter.py Co-Authored-By: joeyzhu00 <joeyzhu00@gmail.com> * Added Loam and test_gsl into repo * Editing the ext_package_build.sh file * Fixing commenting error in the ardu_adapter.py code and inclusion of robot_localization package in the utility folder * Removed Robot local pkg * Putting robot_localization pkg back in * Iss 104 (#112) * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Added new installation steps to bash script, added new message def for planning * Naming convention Clean up for control stack, revised debugging data collection mechanism * Update src/modules/interface/msg/Waypoint.msg Co-Authored-By: menson168 <menson168@gmail.com> * Fixed zero gain bug, tested in unit test * Changed Test code to using near for decimal prceision, Test ran and passed all cases * Modify localization support scripts * Including a moving median filter to the wheel odometry * Adding support script for the EKF package to conform to ROS sensor_msgs standards in a yaw=0 pointing East ENU frame. * Cleaning up file names * Changing file names and limited the serial bus load in terms of bit rate by changing data types used * Changing Moving Median Filter to Median Filter * Work in progress for ISS-123 * Addition of the yaw calibration to the Wheel Odometry code * Revert "ISS 123 (#135)" (#136) This reverts commit 00b1ebb4e66d030003c2d606720bad42a61c4a38. * Incorporated velocity from state msg into control law * Update control_node.cpp * Update control_node.cpp * Iss 141 (#152) * Updated geodesy subscriber and added more comments to the odometry code * Initial commit of the frame_calibration node. Need to add tf listener and transform logic as well as a separate tf broadcaster node * Refactored frame_calibration node (thanks Francisco) as well as initial commit of tf2 broadcaster in the master_transforms module * Initial TF class implementation to tf broadcast and tf listener logic between master_tf and frame_calibration * Removed frame placeholder for tf broadcaster and put in actual frame id * GPS transform addition works with EKF according the most recent bag * Initial commit of the wheel odometry dead-reckoning, confirmed to work with EKF * Added necessary comments and clarification for each script * Refactored the localization module and removed imu_tf_adapter.cpp * addresses ISS-155 * Comment style consistency * Included some clarification in comments * Iss 160 (#161) * Updated geodesy subscriber and added more comments to the odometry code * Initial commit of the frame_calibration node. Need to add tf listener and transform logic as well as a separate tf broadcaster node * Refactored frame_calibration node (thanks Francisco) as well as initial commit of tf2 broadcaster in the master_transforms module * Initial TF class implementation to tf broadcast and tf listener logic between master_tf and frame_calibration * Removed frame placeholder for tf broadcaster and put in actual frame id * GPS transform addition works with EKF according the most recent bag * Initial commit of the wheel odometry dead-reckoning, confirmed to work with EKF * Added necessary comments and clarification for each script * Refactored the localization module and removed imu_tf_adapter.cpp * addresses ISS-155 * Comment style consistency * Included some clarification in comments * Subscribed to the wheel odometry topic and took the velocity estimates from there to stuff into the chassis_state message * Added an extra comment in the __init__ function * Iss 157 (#162) * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Added new installation steps to bash script, added new message def for planning * Naming convention Clean up for control stack, revised debugging data collection mechanism * Update src/modules/interface/msg/Waypoint.msg Co-Authored-By: menson168 <menson168@gmail.com> * Merged with test_deployment, removed all the imu code from control node, added message unpacking code for fully functional chassis_state msg * Remove tf_master (#163) * Iss 164 (#165) * Add campus U-path * Delete unused paths * Iss 113 (#159) * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Added new installation steps to bash script, added new message def for planning * Naming convention Clean up for control stack, revised debugging data collection mechanism * Update src/modules/interface/msg/Waypoint.msg Co-Authored-By: menson168 <menson168@gmail.com> * Fixed zero gain bug, tested in unit test * Changed Test code to using near for decimal prceision, Test ran and passed all cases * ISS 123 (#135) * Iss 120 (#121) * Refactored Localization folders and made (potential) gpf fix * Fixed file endings * Working on updating normal calculation method * New normal estimation method * New Gpf method * Gpf final cleanup and stable build * Added comments to segmenter_node * Kalman Filter Code * Removed unused Kalman Filter code * Moving Median Filter Wheel Odometry (#117) * yes yes * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Changed imu tf from 105 deg to 90 deg * Updated ardu_adapter.py structure and included TODO to address subscriber frequency issue with steering operation * Update changes * Adding Wheel Odometry node along with velocity covariance collection python script. Arduino code included for getting data from SIGNWISE 600 pulse/rev quadrature encoder. Monitoring change in pulse for interrupts for four times the resolution (2400 pulse/rev). * Update src/modules/control/src/ardu_adapter.py Co-Authored-By: joeyzhu00 <joeyzhu00@gmail.com> * Added Loam and test_gsl into repo * Editing the ext_package_build.sh file * Fixing commenting error in the ardu_adapter.py code and inclusion of robot_localization package in the utility folder * Removed Robot local pkg * Putting robot_localization pkg back in * Iss 104 (#112) * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Added new installation steps to bash script, added new message def for planning * Naming convention Clean up for control stack, revised debugging data collection mechanism * Update src/modules/interface/msg/Waypoint.msg Co-Authored-By: menson168 <menson168@gmail.com> * Fixed zero gain bug, tested in unit test * Changed Test code to using near for decimal prceision, Test ran and passed all cases * Modify localization support scripts * Including a moving median filter to the wheel odometry * Adding support script for the EKF package to conform to ROS sensor_msgs standards in a yaw=0 pointing East ENU frame. * Cleaning up file names * Changing file names and limited the serial bus load in terms of bit rate by changing data types used * Changing Moving Median Filter to Median Filter * Work in progress for ISS-123 * Addition of the yaw calibration to the Wheel Odometry code * Revert "ISS 123 (#135)" (#136) This reverts commit 00b1ebb4e66d030003c2d606720bad42a61c4a38. * Unfinished work for waypoint selector * Finished waypoint alignment check function, needs more time and work on the waypoint ahead check feature * Final commit for ISS-113, Selector module completes and tested * Update README.md * Updated testing procedure, added comments for high level control library functions * Modified matlab script for R2016A compatibility * Iss 168 (#169) * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Added new installation steps to bash script, added new message def for planning * Naming convention Clean up for control stack, revised debugging data collection mechanism * Update src/modules/interface/msg/Waypoint.msg Co-Authored-By: menson168 <menson168@gmail.com> * ISS 123 (#135) * Iss 120 (#121) * Refactored Localization folders and made (potential) gpf fix * Fixed file endings * Working on updating normal calculation method * New normal estimation method * New Gpf method * Gpf final cleanup and stable build * Added comments to segmenter_node * Kalman Filter Code * Removed unused Kalman Filter code * Moving Median Filter Wheel Odometry (#117) * yes yes * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Changed imu tf from 105 deg to 90 deg * Updated ardu_adapter.py structure and included TODO to address subscriber frequency issue with steering operation * Update changes * Adding Wheel Odometry node along with velocity covariance collection python script. Arduino code included for getting data from SIGNWISE 600 pulse/rev quadrature encoder. Monitoring change in pulse for interrupts for four times the resolution (2400 pulse/rev). * Update src/modules/control/src/ardu_adapter.py Co-Authored-By: joeyzhu00 <joeyzhu00@gmail.com> * Added Loam and test_gsl into repo * Editing the ext_package_build.sh file * Fixing commenting error in the ardu_adapter.py code and inclusion of robot_localization package in the utility folder * Removed Robot local pkg * Putting robot_localization pkg back in * Iss 104 (#112) * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Added new installation steps to bash script, added new message def for planning * Naming convention Clean up for control stack, revised debugging data collection mechanism * Update src/modules/interface/msg/Waypoint.msg Co-Authored-By: menson168 <menson168@gmail.com> * Fixed zero gain bug, tested in unit test * Changed Test code to using near for decimal prceision, Test ran and passed all cases * Modify localization support scripts * Including a moving median filter to the wheel odometry * Adding support script for the EKF package to conform to ROS sensor_msgs standards in a yaw=0 pointing East ENU frame. * Cleaning up file names * Changing file names and limited the serial bus load in terms of bit rate by changing data types used * Changing Moving Median Filter to Median Filter * Work in progress for ISS-123 * Addition of the yaw calibration to the Wheel Odometry code * Revert "ISS 123 (#135)" (#136) This reverts commit 00b1ebb4e66d030003c2d606720bad42a61c4a38. * Added ETHZ Piksi Code * Clean up * Added Piksi ETHZ driver and customized configuration according to WIKI turotial * Fixed install script merge conflict * Added warning message for launch file * Iss 166 (#173) * ISS 123 (#135) * Iss 120 (#121) * Refactored Localization folders and made (potential) gpf fix * Fixed file endings * Working on updating normal calculation method * New normal estimation method * New Gpf method * Gpf final cleanup and stable build * Added comments to segmenter_node * Kalman Filter Code * Removed unused Kalman Filter code * Moving Median Filter Wheel Odometry (#117) * yes yes * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Changed imu tf from 105 deg to 90 deg * Updated ardu_adapter.py structure and included TODO to address subscriber frequency issue with steering operation * Update changes * Adding Wheel Odometry node along with velocity covariance collection python script. Arduino code included for getting data from SIGNWISE 600 pulse/rev quadrature encoder. Monitoring change in pulse for interrupts for four times the resolution (2400 pulse/rev). * Update src/modules/control/src/ardu_adapter.py Co-Authored-By: joeyzhu00 <joeyzhu00@gmail.com> * Added Loam and test_gsl into repo * Editing the ext_package_build.sh file * Fixing commenting error in the ardu_adapter.py code and inclusion of robot_localization package in the utility folder * Removed Robot local pkg * Putting robot_localization pkg back in * Iss 104 (#112) * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Added new installation steps to bash script, added new message def for planning * Naming convention Clean up for control stack, revised debugging data collection mechanism * Update src/modules/interface/msg/Waypoint.msg Co-Authored-By: menson168 <menson168@gmail.com> * Fixed zero gain bug, tested in unit test * Changed Test code to using near for decimal prceision, Test ran and passed all cases * Modify localization support scripts * Including a moving median filter to the wheel odometry * Adding support script for the EKF package to conform to ROS sensor_msgs standards in a yaw=0 pointing East ENU frame. * Cleaning up file names * Changing file names and limited the serial bus load in terms of bit rate by changing data types used * Changing Moving Median Filter to Median Filter * Work in progress for ISS-123 * Addition of the yaw calibration to the Wheel Odometry code * Revert "ISS 123 (#135)" (#136) This reverts commit 00b1ebb4e66d030003c2d606720bad42a61c4a38. * Updated geodesy subscriber and added more comments to the odometry code * Initial commit of the frame_calibration node. Need to add tf listener and transform logic as well as a separate tf broadcaster node * Refactored frame_calibration node (thanks Francisco) as well as initial commit of tf2 broadcaster in the master_transforms module * Initial TF class implementation to tf broadcast and tf listener logic between master_tf and frame_calibration * Removed frame placeholder for tf broadcaster and put in actual frame id * GPS transform addition works with EKF according the most recent bag * Initial commit of the wheel odometry dead-reckoning, confirmed to work with EKF * Added necessary comments and clarification for each script * Refactored the localization module and removed imu_tf_adapter.cpp * addresses ISS-155 * Comment style consistency * Included some clarification in comments * Changed the standard deviation threshold for frame_calibration, tuned the Kalman Filter, need to do more work in a separate issue * made change to the launch file for wheel odom * removed a comment * Update src/utility/robot_localization/params/ekf_template.yaml Co-Authored-By: joeyzhu00 <joeyzhu00@gmail.com> * Change pose subscription topic (#175) * Testing prep * Remove publish to /localization/state (#177) * Iss 179 (#180) * Updated geodesy subscriber and added more comments to the odometry code * Initial commit of the frame_calibration node. Need to add tf listener and transform logic as well as a separate tf broadcaster node * Refactored frame_calibration node (thanks Francisco) as well as initial commit of tf2 broadcaster in the master_transforms module * Initial TF class implementation to tf broadcast and tf listener logic between master_tf and frame_calibration * Removed frame placeholder for tf broadcaster and put in actual frame id * GPS transform addition works with EKF according the most recent bag * Initial commit of the wheel odometry dead-reckoning, confirmed to work with EKF * Added necessary comments and clarification for each script * Refactored the localization module and removed imu_tf_adapter.cpp * addresses ISS-155 * Comment style consistency * Included some clarification in comments * made changes to the odometry covariance and the EKF process noise covariance * lowered the frequency of the EKF * Iss 172 (#182) * Initial improvement of validator * Add unfiltered mode to gpsVisualizer * Placeholder for easy ENU validator * Standardize validation naming * Add configurable params * Start bag parser * Functional parser * Refactor arg parser * Add bagfile optional arg * Add bag location validator * Add output file validator * Refactor validators * Remove case sensitivity * Remove altitude validator * Remove unnecesasry imports * Added positional args * Add default descriptions * Initial GPS data functionality * Path validator initial functionality * Change bag file finder mode * Change output file location * Add progress estimate * Sort config properties print output * Remove redundancy * Iss 185 (#187) * ISS 123 (#135) * Iss 120 (#121) * Refactored Localization folders and made (potential) gpf fix * Fixed file endings * Working on updating normal calculation method * New normal estimation method * New Gpf method * Gpf final cleanup and stable build * Added comments to segmenter_node * Kalman Filter Code * Removed unused Kalman Filter code * Moving Median Filter Wheel Odometry (#117) * yes yes * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Changed imu tf from 105 deg to 90 deg * Updated ardu_adapter.py structure and included TODO to address subscriber frequency issue with steering operation * Update changes * Adding Wheel Odometry node along with velocity covariance collection python script. Arduino code included for getting data from SIGNWISE 600 pulse/rev quadrature encoder. Monitoring change in pulse for interrupts for four times the resolution (2400 pulse/rev). * Update src/modules/control/src/ardu_adapter.py Co-Authored-By: joeyzhu00 <joeyzhu00@gmail.com> * Added Loam and test_gsl into repo * Editing the ext_package_build.sh file * Fixing commenting error in the ardu_adapter.py code and inclusion of robot_localization package in the utility folder * Removed Robot local pkg * Putting robot_localization pkg back in * Iss 104 (#112) * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Added new installation steps to bash script, added new message def for planning * Naming convention Clean up for control stack, revised debugging data collection mechanism * Update src/modules/interface/msg/Waypoint.msg Co-Authored-By: menson168 <menson168@gmail.com> * Fixed zero gain bug, tested in unit test * Changed Test code to using near for decimal prceision, Test ran and passed all cases * Modify localization support scripts * Including a moving median filter to the wheel odometry * Adding support script for the EKF package to conform to ROS sensor_msgs standards in a yaw=0 pointing East ENU frame. * Cleaning up file names * Changing file names and limited the serial bus load in terms of bit rate by changing data types used * Changing Moving Median Filter to Median Filter * Work in progress for ISS-123 * Addition of the yaw calibration to the Wheel Odometry code * Revert "ISS 123 (#135)" (#136) This reverts commit 00b1ebb4e66d030003c2d606720bad42a61c4a38. * Added ETHZ Piksi Code * Fixed the broken submodule and added back the piksi code * Fixed zero gain bug, cleaned up control debug message, and fixed an error in one of the test case. * Forgot to add back the pass by reference for gain values into controller function * Used cmath's signbit function to do sign checking instead of abs(x)/x * Added a small number to add onto the velocity denominator in steering angle calc to prevent numerical error if vehicle velocity is zero * Update launch file (#192) * Iss 178 (#193) * Add param for path interpolation * Remove debug code * Update instances of height param * Add arg to launch * Iss 196 (#197) * Add config for cam-lidar * Update config file * Merging changes in readme and the install script into test_deployment (#201) * ISS 123 (#135) * Iss 120 (#121) * Refactored Localization folders and made (potential) gpf fix * Fixed file endings * Working on updating normal calculation method * New normal estimation method * New Gpf method * Gpf final cleanup and stable build * Added comments to segmenter_node * Kalman Filter Code * Removed unused Kalman Filter code * Moving Median Filter Wheel Odometry (#117) * yes yes * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Changed imu tf from 105 deg to 90 deg * Updated ardu_adapter.py structure and included TODO to address subscriber frequency issue with steering operation * Update changes * Adding Wheel Odometry node along with velocity covariance collection python script. Arduino code included for getting data from SIGNWISE 600 pulse/rev quadrature encoder. Monitoring change in pulse for interrupts for four times the resolution (2400 pulse/rev). * Update src/modules/control/src/ardu_adapter.py Co-Authored-By: joeyzhu00 <joeyzhu00@gmail.com> * Added Loam and test_gsl into repo * Editing the ext_package_build.sh file * Fixing commenting error in the ardu_adapter.py code and inclusion of robot_localization package in the utility folder * Removed Robot local pkg * Putting robot_localization pkg back in * Iss 104 (#112) * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Added new installation steps to bash script, added new message def for planning * Naming convention Clean up for control stack, revised debugging data collection mechanism * Update src/modules/interface/msg/Waypoint.msg Co-Authored-By: menson168 <menson168@gmail.com> * Fixed zero gain bug, tested in unit test * Changed Test code to using near for decimal prceision, Test ran and passed all cases * Modify localization support scripts * Including a moving median filter to the wheel odometry * Adding support script for the EKF package to conform to ROS sensor_msgs standards in a yaw=0 pointing East ENU frame. * Cleaning up file names * Changing file names and limited the serial bus load in terms of bit rate by changing data types used * Changing Moving Median Filter to Median Filter * Work in progress for ISS-123 * Addition of the yaw calibration to the Wheel Odometry code * Revert "ISS 123 (#135)" (#136) This reverts commit 00b1ebb4e66d030003c2d606720bad42a61c4a38. * Included the magic rosdep command in the ext sh file * Update README.md * Update README.md * Update README.md * Iss 194 (#204) * ISS 123 (#135) * Iss 120 (#121) * Refactored Localization folders and made (potential) gpf fix * Fixed file endings * Working on updating normal calculation method * New normal estimation method * New Gpf method * Gpf final cleanup and stable build * Added comments to segmenter_node * Kalman Filter Code * Removed unused Kalman Filter code * Moving Median Filter Wheel Odometry (#117) * yes yes * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Changed imu tf from 105 deg to 90 deg * Updated ardu_adapter.py structure and included TODO to address subscriber frequency issue with steering operation * Update changes * Adding Wheel Odometry node along with velocity covariance collection python script. Arduino code included for getting data from SIGNWISE 600 pulse/rev quadrature encoder. Monitoring change in pulse for interrupts for four times the resolution (2400 pulse/rev). * Update src/modules/control/src/ardu_adapter.py Co-Authored-By: joeyzhu00 <joeyzhu00@gmail.com> * Added Loam and test_gsl into repo * Editing the ext_package_build.sh file * Fixing commenting error in the ardu_adapter.py code and inclusion of robot_localization package in the utility folder * Removed Robot local pkg * Putting robot_localization pkg back in * Iss 104 (#112) * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Added new installation steps to bash script, added new message def for planning * Naming convention Clean up for control stack, revised debugging data collection mechanism * Update src/modules/interface/msg/Waypoint.msg Co-Authored-By: menson168 <menson168@gmail.com> * Fixed zero gain bug, tested in unit test * Changed Test code to using near for decimal prceision, Test ran and passed all cases * Modify localization support scripts * Including a moving median filter to the wheel odometry * Adding support script for the EKF package to conform to ROS sensor_msgs standards in a yaw=0 pointing East ENU frame. * Cleaning up file names * Changing file names and limited the serial bus load in terms of bit rate by changing data types used * Changing Moving Median Filter to Median Filter * Work in progress for ISS-123 * Addition of the yaw calibration to the Wheel Odometry code * Revert "ISS 123 (#135)" (#136) This reverts commit 00b1ebb4e66d030003c2d606720bad42a61c4a38. * Updated geodesy subscriber and added more comments to the odometry code * Initial commit of the frame_calibration node. Need to add tf listener and transform logic as well as a separate tf broadcaster node * Refactored frame_calibration node (thanks Francisco) as well as initial commit of tf2 broadcaster in the master_transforms module * Initial TF class implementation to tf broadcast and tf listener logic between master_tf and frame_calibration * Removed frame placeholder for tf broadcaster and put in actual frame id * GPS transform addition works with EKF according the most recent bag * Initial commit of the wheel odometry dead-reckoning, confirmed to work with EKF * Added necessary comments and clarification for each script * Refactored the localization module and removed imu_tf_adapter.cpp * addresses ISS-155 * Comment style consistency * Included some clarification in comments * added logic to incorporate y-position transform to the tf broadcast * added the black car's wheel radius to frame_calibration * updated master_tf for the new GPS location * Update piksi_multi_driver_settings.yaml Changed the debug mode setting to true so gps signal won't freeze in rtk_float mode * Update piksi_multi_rover.launch * Iss 167 (#199) * ISS 123 (#135) * Iss 120 (#121) * Refactored Localization folders and made (potential) gpf fix * Fixed file endings * Working on updating normal calculation method * New normal estimation method * New Gpf method * Gpf final cleanup and stable build * Added comments to segmenter_node * Kalman Filter Code * Removed unused Kalman Filter code * Moving Median Filter Wheel Odometry (#117) * yes yes * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Changed imu tf from 105 deg to 90 deg * Updated ardu_adapter.py structure and included TODO to address subscriber frequency issue with steering operation * Update changes * Adding Wheel Odometry node along with velocity covariance collection python script. Arduino code included for getting data from SIGNWISE 600 pulse/rev quadrature encoder. Monitoring change in pulse for interrupts for four times the resolution (2400 pulse/rev). * Update src/modules/control/src/ardu_adapter.py Co-Authored-By: joeyzhu00 <joeyzhu00@gmail.com> * Added Loam and test_gsl into repo * Editing the ext_package_build.sh file * Fixing commenting error in the ardu_adapter.py code and inclusion of robot_localization package in the utility folder * Removed Robot local pkg * Putting robot_localization pkg back in * Iss 104 (#112) * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Added new installation steps to bash script, added new message def for planning * Naming convention Clean up for control stack, revised debugging data collection mechanism * Update src/modules/interface/msg/Waypoint.msg Co-Authored-By: menson168 <menson168@gmail.com> * Fixed zero gain bug, tested in unit test * Changed Test code to using near for decimal prceision, Test ran and passed all cases * Modify localization support scripts * Including a moving median filter to the wheel odometry * Adding support script for the EKF package to conform to ROS sensor_msgs standards in a yaw=0 pointing East ENU frame. * Cleaning up file names * Changing file names and limited the serial bus load in terms of bit rate by changing data types used * Changing Moving Median Filter to Median Filter * Work in progress for ISS-123 * Addition of the yaw calibration to the Wheel Odometry code * Revert "ISS 123 (#135)" (#136) This reverts commit 00b1ebb4e66d030003c2d606720bad42a61c4a38. * Updated geodesy subscriber and added more comments to the odometry code * Initial commit of the frame_calibration node. Need to add tf listener and transform logic as well as a separate tf broadcaster node * Refactored frame_calibration node (thanks Francisco) as well as initial commit of tf2 broadcaster in the master_transforms module * Initial TF class implementation to tf broadcast and tf listener logic between master_tf and frame_calibration * Removed frame placeholder for tf broadcaster and put in actual frame id * GPS transform addition works with EKF according the most recent bag * Initial commit of the wheel odometry dead-reckoning, confirmed to work with EKF * Added necessary comments and clarification for each script * Refactored the localization module and removed imu_tf_adapter.cpp * addresses ISS-155 * Comment style consistency * Initial commit of rc CAN Bus * Fixed a typo, and added comments * Fixed misplaced clock in the propulsion logic * Addition of the initial low-level control node with multithreading and two teleop programs to compare spinlock versus multithreading * Added ETHZ Piksi Code * Spinlock method tested and verified to work, initial commit of low level control node with spinlock method * Forgot to remap the input for propulsion * Fixed the broken submodule and added back the piksi code * addition of a can listener node for steering feedback and torque input feedback * removed unnecessary spaces * forgot to add main in the init * Revert to previous commit before Joey's CAN stuff * Finished implementation of node side waypoint selector logic and refactor control stack to work with new logic * Finished software in the loop testing module for control, included visualization * final commit for SIL and waypoint selector node side logic * Final commit for ISS-167, waypoint selector node side algo tested * Update src/modules/control/launch/control.launch Co-Authored-By: menson168 <menson168@gmail.com> * Update src/modules/control/include/control/control_node.h Co-Authored-By: menson168 <menson168@gmail.com> * Update src/modules/control/launch/pure_high_lvl_control.launch Co-Authored-By: menson168 <menson168@gmail.com> * Update src/utility/control_sil/package.xml Co-Authored-By: menson168 <menson168@gmail.com> * Updated comment to consider faster search algo in future for waypoint selection * Fixed camelcase issue * Update control_sil_test.launch * Changed comment when control node subscribes to sth * Added option to use external planner * Added angle wrapping in control sil so the heading would be in the domain of 180 to -180 * Angle wrapping fix to radians * Iss 202 - Arduino CAN Gateway (#208) * ISS 123 (#135) * Iss 120 (#121) * Refactored Localization folders and made (potential) gpf fix * Fixed file endings * Working on updating normal calculation method * New normal estimation method * New Gpf method * Gpf final cleanup and stable build * Added comments to segmenter_node * Kalman Filter Code * Removed unused Kalman Filter code * Moving Median Filter Wheel Odometry (#117) * yes yes * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Changed imu tf from 105 deg to 90 deg * Updated ardu_adapter.py structure and included TODO to address subscriber frequency issue with steering operation * Update changes * Adding Wheel Odometry node along with velocity covariance collection python script. Arduino code included for getting data from SIGNWISE 600 pulse/rev quadrature encoder. Monitoring change in pulse for interrupts for four times the resolution (2400 pulse/rev). * Update src/modules/control/src/ardu_adapter.py Co-Authored-By: joeyzhu00 <joeyzhu00@gmail.com> * Added Loam and test_gsl into repo * Editing the ext_package_build.sh file * Fixing commenting error in the ardu_adapter.py code and inclusion of robot_localization package in the utility folder * Removed Robot local pkg * Putting robot_localization pkg back in * Iss 104 (#112) * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Added new installation steps to bash script, added new message def for planning * Naming convention Clean up for control stack, revised debugging data collection mechanism * Update src/modules/interface/msg/Waypoint.msg Co-Authored-By: menson168 <menson168@gmail.com> * Fixed zero gain bug, tested in unit test * Changed Test code to using near for decimal prceision, Test ran and passed all cases * Modify localization support scripts * Including a moving median filter to the wheel odometry * Adding support script for the EKF package to conform to ROS sensor_msgs standards in a yaw=0 pointing East ENU frame. * Cleaning up file names * Changing file names and limited the serial bus load in terms of bit rate by changing data types used * Changing Moving Median Filter to Median Filter * Work in progress for ISS-123 * Addition of the yaw calibration to the Wheel Odometry code * Revert "ISS 123 (#135)" (#136) This reverts commit 00b1ebb4e66d030003c2d606720bad42a61c4a38. * Updated geodesy subscriber and added more comments to the odometry code * Initial commit of the frame_calibration node. Need to add tf listener and transform logic as well as a separate tf broadcaster node * Refactored frame_calibration node (thanks Francisco) as well as initial commit of tf2 broadcaster in the master_transforms module * Initial TF class implementation to tf broadcast and tf listener logic between master_tf and frame_calibration * Removed frame placeholder for tf broadcaster and put in actual frame id * GPS transform addition works with EKF according the most recent bag * Initial commit of the wheel odometry dead-reckoning, confirmed to work with EKF * Added necessary comments and clarification for each script * Refactored the localization module and removed imu_tf_adapter.cpp * addresses ISS-155 * Comment style consistency * Initial commit of rc CAN Bus * Fixed a typo, and added comments * Fixed misplaced clock in the propulsion logic * Addition of the initial low-level control node with multithreading and two teleop programs to compare spinlock versus multithreading * Added ETHZ Piksi Code * Spinlock method tested and verified to work, initial commit of low level control node with spinlock method * Forgot to remap the input for propulsion * Fixed the broken submodule and added back the piksi code * addition of a can listener node for steering feedback and torque input feedback * removed unnecessary spaces * forgot to add main in the init * Revert to previous commit before Joey's CAN stuff * Finished implementation of node side waypoint selector logic and refactor control stack to work with new logic * Finished software in the loop testing module for control, included visualization * final commit for SIL and waypoint selector node side logic * Final commit for ISS-167, waypoint selector node side algo tested * Init Commit to can gateway * Testing configs * Final commit for the CAR gateway project, await onboard testing * Placed rosspin in the CAR gateway firmware into a timer callback so it would fire periodically every 10 ms * Iss 202 (#210) * ISS 123 (#135) * Iss 120 (#121) * Refactored Localization folders and made (potential) gpf fix * Fixed file endings * Working on updating normal calculation method * New normal estimation method * New Gpf method * Gpf final cleanup and stable build * Added comments to segmenter_node * Kalman Filter Code * Removed unused Kalman Filter code * Moving Median Filter Wheel Odometry (#117) * yes yes * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Changed imu tf from 105 deg to 90 deg * Updated ardu_adapter.py structure and included TODO to address subscriber frequency issue with steering operation * Update changes * Adding Wheel Odometry node along with velocity covariance collection python script. Arduino code included for getting data from SIGNWISE 600 pulse/rev quadrature encoder. Monitoring change in pulse for interrupts for four times the resolution (2400 pulse/rev). * Update src/modules/control/src/ardu_adapter.py Co-Authored-By: joeyzhu00 <joeyzhu00@gmail.com> * Added Loam and test_gsl into repo * Editing the ext_package_build.sh file * Fixing commenting error in the ardu_adapter.py code and inclusion of robot_localization package in the utility folder * Removed Robot local pkg * Putting robot_localization pkg back in * Iss 104 (#112) * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Added new installation steps to bash script, added new message def for planning * Naming convention Clean up for control stack, revised debugging data collection mechanism * Update src/modules/interface/msg/Waypoint.msg Co-Authored-By: menson168 <menson168@gmail.com> * Fixed zero gain bug, tested in unit test * Changed Test code to using near for decimal prceision, Test ran and passed all cases * Modify localization support scripts * Including a moving median filter to the wheel odometry * Adding support script for the EKF package to conform to ROS sensor_msgs standards in a yaw=0 pointing East ENU frame. * Cleaning up file names * Changing file names and limited the serial bus load in terms of bit rate by changing data types used * Changing Moving Median Filter to Median Filter * Work in progress for ISS-123 * Addition of the yaw calibration to the Wheel Odometry code * Revert "ISS 123 (#135)" (#136) This reverts commit 00b1ebb4e66d030003c2d606720bad42a61c4a38. * Updated geodesy subscriber and added more comments to the odometry code * Initial commit of the frame_calibration node. Need to add tf listener and transform logic as well as a separate tf broadcaster node * Refactored frame_calibration node (thanks Francisco) as well as initial commit of tf2 broadcaster in the master_transforms module * Initial TF class implementation to tf broadcast and tf listener logic between master_tf and frame_calibration * Removed frame placeholder for tf broadcaster and put in actual frame id * GPS transform addition works with EKF according the most recent bag * Initial commit of the wheel odometry dead-reckoning, confirmed to work with EKF * Added necessary comments and clarification for each script * Refactored the localization module and removed imu_tf_adapter.cpp * addresses ISS-155 * Comment style consistency * Initial commit of rc CAN Bus * Fixed a typo, and added comments * Fixed misplaced clock in the propulsion logic * Addition of the initial low-level control node with multithreading and two teleop programs to compare spinlock versus multithreading * Added ETHZ Piksi Code * Spinlock method tested and verified to work, initial commit of low level control node with spinlock method * Forgot to remap the input for propulsion * Fixed the broken submodule and added back the piksi code * addition of a can listener node for steering feedback and torque input feedback * removed unnecessary spaces * forgot to add main in the init * Revert to previous commit before Joey's CAN stuff * Finished implementation of node side waypoint selector logic and refactor control stack to work with new logic * Finished software in the loop testing module for control, included visualization * final commit for SIL and waypoint selector node side logic * Final commit for ISS-167, waypoint selector node side algo tested * Init Commit to can gateway * Testing configs * Final commit for the CAR gateway project, await onboard testing * Placed rosspin in the CAR gateway firmware into a timer callback so it would fire periodically every 10 ms * Added fix to hold steering msg at init * Update README.md * Iss 205 (#211) * ISS 123 (#135) * Iss 120 (#121) * Refactored Localization folders and made (potential) gpf fix * Fixed file endings * Working on updating normal calculation method * New normal estimation method * New Gpf method * Gpf final cleanup and stable build * Added comments to segmenter_node * Kalman Filter Code * Removed unused Kalman Filter code * Moving Median Filter Wheel Odometry (#117) * yes yes * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Changed imu tf from 105 deg to 90 deg * Updated ardu_adapter.py structure and included TODO to address subscriber frequency issue with steering operation * Update changes * Adding Wheel Odometry node along with velocity covariance collection python script. Arduino code included for getting data from SIGNWISE 600 pulse/rev quadrature encoder. Monitoring change in pulse for interrupts for four times the resolution (2400 pulse/rev). * Update src/modules/control/src/ardu_adapter.py Co-Authored-By: joeyzhu00 <joeyzhu00@gmail.com> * Added Loam and test_gsl into repo * Editing the ext_package_build.sh file * Fixing commenting error in the ardu_adapter.py code and inclusion of robot_localization package in the utility folder * Removed Robot local pkg * Putting robot_localization pkg back in * Iss 104 (#112) * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Added new installation steps to bash script, added new message def for planning * Naming convention Clean up for control stack, revised debugging data collection mechanism * Update src/modules/interface/msg/Waypoint.msg Co-Authored-By: menson168 <menson168@gmail.com> * Fixed zero gain bug, tested in unit test * Changed Test code to using near for decimal prceision, Test ran and passed all cases * Modify localization support scripts * Including a moving median filter to the wheel odometry * Adding support script for the EKF package to conform to ROS sensor_msgs standards in a yaw=0 pointing East ENU frame. * Cleaning up file names * Changing file names and limited the serial bus load in terms of bit rate by changing data types used * Changing Moving Median Filter to Median Filter * Work in progress for ISS-123 * Addition of the yaw calibration to the Wheel Odometry code * Revert "ISS 123 (#135)" (#136) This reverts commit 00b1ebb4e66d030003c2d606720bad42a61c4a38. * initial commit of ISS-205 with tuned EKF parameters as well as support logic to handle new GPS drivers * commented out unnecessary features * added more comments * added more comments * added changes for clarification and lesser memory usage * Iss 212 (#213) * Add long SU path * Update geodesy launch * Updated master launch with gps ethernet * Iss 214 (#215) * ISS 123 (#135) * Iss 120 (#121) * Refactored Localization folders and made (potential) gpf fix * Fixed file endings * Working on updating normal calculation method * New normal estimation method * New Gpf method * Gpf final cleanup and stable build * Added comments to segmenter_node * Kalman Filter Code * Removed unused Kalman Filter code * Moving Median Filter Wheel Odometry (#117) * yes yes * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Changed imu tf from 105 deg to 90 deg * Updated ardu_adapter.py structure and included TODO to address subscriber frequency issue with steering operation * Update changes * Adding Wheel Odometry node along with velocity covariance collection python script. Arduino code included for getting data from SIGNWISE 600 pulse/rev quadrature encoder. Monitoring change in pulse for interrupts for four times the resolution (2400 pulse/rev). * Update src/modules/control/src/ardu_adapter.py Co-Authored-By: joeyzhu00 <joeyzhu00@gmail.com> * Added Loam and test_gsl into repo * Editing the ext_package_build.sh file * Fixing commenting error in the ardu_adapter.py code and inclusion of robot_localization package in the utility folder * Removed Robot local pkg * Putting robot_localization pkg back in * Iss 104 (#112) * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Added new installation steps to bash script, added new message def for planning * Naming convention Clean up for control stack, revised debugging data collection mechanism * Update src/modules/interface/msg/Waypoint.msg Co-Authored-By: menson168 <menson168@gmail.com> * Fixed zero gain bug, tested in unit test * Changed Test code to using near for decimal prceision, Test ran and passed all cases * Modify localization support scripts * Including a moving median filter to the wheel odometry * Adding support script for the EKF package to conform to ROS sensor_msgs standards in a yaw=0 pointing East ENU frame. * Cleaning up file names * Changing file names and limited the serial bus load in terms of bit rate by changing data types used * Changing Moving Median Filter to Median Filter * Work in progress for ISS-123 * Addition of the yaw calibration to the Wheel Odometry code * Revert "ISS 123 (#135)" (#136) This reverts commit 00b1ebb4e66d030003c2d606720bad42a61c4a38. * addition of changes to incorporate gps heading estimation * added a new program to go from odometry to imu message * removed unnecessary median filter and low-pass filter functionality as they are not being used * Test deployment (#219) * ISS 123 (#135) * Iss 120 (#121) * Refactored Localization folders and made (potential) gpf fix * Fixed file endings * Working on updating normal calculation method * New normal estimation method * New Gpf method * Gpf final cleanup and stable build * Added comments to segmenter_node * Kalman Filter Code * Removed unused Kalman Filter code * Moving Median Filter Wheel Odometry (#117) * yes yes * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Changed imu tf from 105 deg to 90 deg * Updated ardu_adapter.py structure and included TODO to address subscriber frequency issue with steering operation * Update changes * Adding Wheel Odometry node along with velocity covariance collection python script. Arduino code included for getting data from SIGNWISE 600 pulse/rev quadrature encoder. Monitoring change in pulse for interrupts for four times the resolution (2400 pulse/rev). * Update src/modules/control/src/ardu_adapter.py Co-Authored-By: joeyzhu00 <joeyzhu00@gmail.com> * Added Loam and test_gsl into repo * Editing the ext_package_build.sh file * Fixing commenting error in the ardu_adapter.py code and inclusion of robot_localization package in the utility folder * Removed Robot local pkg * Putting robot_localization pkg back in * Iss 104 (#112) * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Added new installation steps to bash script, added new message def for planning * Naming convention Clean up for control stack, revised debugging data collection mechanism * Update src/modules/interface/msg/Waypoint.msg Co-Authored-By: menson168 <menson168@gmail.com> * Fixed zero gain bug, tested in unit test * Changed Test code to using near for decimal prceision, Test ran and passed all cases * Modify localization support scripts * Including a moving median filter to the wheel odometry * Adding support script for the EKF package to conform to ROS sensor_msgs standards in a yaw=0 pointing East ENU frame. * Cleaning up file names * Changing file names and limited the serial bus load in terms of bit rate by changing data types used * Changing Moving Median Filter to Median Filter * Work in progress for ISS-123 * Addition of the yaw calibration to the Wheel Odometry code * Revert "ISS 123 (#135)" (#136) This reverts commit 00b1ebb4e66d030003c2d606720bad42a61c4a38. * Updated geodesy subscriber and added more comments to the odometry code * Initial commit of the frame_calibration node. Need to add tf listener and transform logic as well as a separate tf broadcaster node * Refactored frame_calibration node (thanks Francisco) as well as initial commit of tf2 broadcaster in the master_transforms module * Initial TF class implementation to tf broadcast and tf listener logic between master_tf and frame_calibration * Removed frame placeholder for tf broadcaster and put in actual frame id * GPS transform addition works with EKF according the most recent bag * Initial commit of the wheel odometry dead-reckoning, confirmed to work with EKF * Added necessary comments and clarification for each script * Incorporated velocity from state msg into control law * Refactored the localization module and removed imu_tf_adapter.cpp * addresses ISS-155 * Comment style consistency * Initial commit of rc CAN Bus * Fixed a typo, and added comments * Fixed misplaced clock in the propulsion logic * Addition of the initial low-level control node with multithreading and two teleop programs to compare spinlock versus multithreading * Added ETHZ Piksi Code * Spinlock method tested and verified to work, initial commit of low level control node with spinlock method * Forgot to remap the input for propulsion * Fixed the broken submodule and added back the piksi code * addition of a can listener node for steering feedback and torque input feedback * removed unnecessary spaces * forgot to add main in the init * Revert to previous commit before Joey's CAN stuff * Testing configs * Created planner module * added receiver capability on ardu-can-gateway * changed ros message from byte to uin8 * Test deployment (#220) * ISS 123 (#135) * Iss 120 (#121) * Refactored Localization folders and made (potential) gpf fix * Fixed file endings * Working on updating normal calculation method * New normal estimation method * New Gpf method * Gpf final cleanup and stable build * Added comments to segmenter_node * Kalman Filter Code * Removed unused Kalman Filter code * Moving Median Filter Wheel Odometry (#117) * yes yes * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Changed imu tf from 105 deg to 90 deg * Updated ardu_adapter.py structure and included TODO to address subscriber frequency issue with steering operation * Update changes * Adding Wheel Odometry node along with velocity covariance collection python script. Arduino code included for getting data from SIGNWISE 600 pulse/rev quadrature encoder. Monitoring change in pulse for interrupts for four times the resolution (2400 pulse/rev). * Update src/modules/control/src/ardu_adapter.py Co-Authored-By: joeyzhu00 <joeyzhu00@gmail.com> * Added Loam and test_gsl into repo * Editing the ext_package_build.sh file * Fixing commenting error in the ardu_adapter.py code and inclusion of robot_localization package in the utility folder * Removed Robot local pkg * Putting robot_localization pkg back in * Iss 104 (#112) * Switched control to run on imu yaw, implemented tf from imu frame to ENU w/ consideration on magnetic declination * Magnetic_declination angle fix * Build Error Fix * Added new installation steps to bash script, added new message def for planning * Naming convention Clean up for control stack, revised debugging data collection mechanism * Update src/modules/interface/msg/Waypoint.msg Co-Authored-By: menson168 <menson168@gmail.com> * Fixed zero gain bug, tested in unit test * Changed Test code to using near for decimal prceision, Test ran and passed all cases * Modify localization support scripts * Including a moving median filter to the wheel odometry * Adding support script for the EKF package to conform to ROS sensor_msgs standards in a yaw=0 pointing East ENU frame. * Cleaning up file names * Changing file names and limited the serial bus load in terms of bit rate by changing data types used * Changing Moving Median Filter to Median Filter * Work in progress for ISS-123 * Addition of the yaw calibration to the Wheel Od…
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Closes #196
Lidar topic is set to
/velodyne_point_clouduntil Issue 139 is resolved