FSF-7573 | FSF-7052 | FSF-7571 | FSF-7572 | Graph slam #392
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- finished constant velocity motion model - changed structures and messages to contain necessary noises and timestamps - changed node structure and completed missing code - created data association library (perception sensor shit) - completed code for adding motion prior (with some holes) - unit tests for constant velocity motion model
lourenco31
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Feb 17, 2025
marhcouto
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Feb 18, 2025
* feat: velocity estimation package definition predicting dependencies * feat: velocity estimation node and adapter declaration & main function * feat(common_lib): added Velocities structure to common_lib * feat(custom_interfaces): added Velocities message to custom interfaces * feat(ve): initial launch file * feat(ve): parameters factory & updated main and node & declared adapters * feat(ve): abstract estimator * feat: ve node has estimator * feat(ve): imu callback for PacSim * feat(ve): wss callback for pacsim * feat(ve): steering angle callback for pacsim * feat(ve): simulate resolver data assuming gear ratio of 4:1 * feat(ve): ekf structure * feat(ve): updated CMakeLists * fix(ve): updated package.xml * feat(ve): estimator creation logics & launch file adjustment & node runs! * feat(motion_lib): created motion lib and moved the vehicle dynamics folder from common_lib to it * fix(se): replaced vehicle dynamics functionality from common lib with motion lib in ekf_state_est * fix(control): replaced vehicle dynamics functionality with motion_lib in control * fix(common_lib): removed vehicle dynamics from common lib * fix(se): fixed error in include and removed compiler warnings * fix(motion_lib & common_lib): fixed compiling & added particle model & changed directory structure in motion_lib * fix(control&se): fixed include statements * fix compiling & made prediction step * fix(ve): removed unnecessary import and hierarchy * feat(VE): doxygen comments * fix(ve): fixed case and weird names * feat(VE): readme and diagram * feat(slam): base SLAM node compiling * feat(slam): include base structure and documentation and fixes in base node * FSF-7573 Graph slam (#392) * feat(slam): base graph slam structure, missing motion model and completing functions * feat(motion_lib): constant velocity motion model * feat(slam): long description... - finished constant velocity motion model - changed structures and messages to contain necessary noises and timestamps - changed node structure and completed missing code - created data association library (perception sensor shit) - completed code for adding motion prior (with some holes) - unit tests for constant velocity motion model * fix(slam/perception_sensor_lib): corrected parameter names * fix(slam): added gtsam installation and changed a name * fix(actions): added slam workflow and corrected two others * fix(actions): added lib * fix(slam): changed name of variable * fix(install): added missing command in GTSAM installation * fix(slam): added updating the last_pose_update timestamp * fix(actions): killed slam action, too slow * FSF-7159 Ekf slam (#384) * feat(slam): ekf prediction step * feat(slam): added comments to ekf slam functions * feat(slam): EKF correction step and state augmentation * fix(slam): added slam to action and fixed the compilation of ekf_state_est and control * feat(slam): base graph slam structure, missing motion model and completing functions * feat(motion_lib): constant velocity motion model * fix: changed oberservation noise matrix, rotation matrix as auxiliary function * feat(slam): long description... - finished constant velocity motion model - changed structures and messages to contain necessary noises and timestamps - changed node structure and completed missing code - created data association library (perception sensor shit) - completed code for adding motion prior (with some holes) - unit tests for constant velocity motion model * feat: asynchronous correction and prediction steps * feat: new tests * fix: strange things --------- Co-authored-by: marhcouto <marhcouto1101@gmail.com> * fix(slam/motion_lib): fixes after merge of EKF and Davide review * fix: solved last merge conflicts * fix(ekf_state_est): fixed the path --------- Co-authored-by: Lourenço Rodrigues <up202306331@up.pt> Co-authored-by: lourenco31 <150086800+lourenco31@users.noreply.github.com>
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