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View Code? Open in Web Editor NEWA ROS wrapper for the MaRS Library
License: Other
A ROS wrapper for the MaRS Library
License: Other
Here is a geometry_msgs/PoseStamped
message I get running an instance of a gps_node
:
header:
seq: 12188
stamp:
secs: 1661984306
nsecs: 715818644
frame_id: ''
pose:
position:
x: -0.6634237632091935
y: 3.4947216960559073
z: 0.06363313476750493
orientation:
x: -0.005933376892896241
y: 0.18921987844821742
z: 0.02400976216308664
w: 0.9816232291259008
(Notice the empty frame_id
)
Without frame_id
we can't visualize poses, for example.
Hey @Chris-Bee, as discussed when initializing, the ros wrappers do not wait for the initial states to be set through the first sensor measurement, although they already include a code to set the inital states p_wi_init_
and q_wi_init_
:
mars_ros/src/mars_wrapper_pose.cpp
Lines 260 to 267 in 1cf5e93
The following core init call does not wait for the do_state_init_
to be set to true
mars_ros/src/mars_wrapper_pose.cpp
Line 170 in dacc3c5
- if (!core_logic_.core_is_initialized_ )
+ if (!core_logic_.core_is_initialized_ && do_state_init_)
This can yield the issue of the first couple of published states being wrong due to the filter converging after initializing its core state to identity (0 in position, and unit quaternion in orientation).
This issue can also apply to other wrappers and is especially present if the pose sensor provides updates significantly different from the identity/origin.
Hi! As the title says shoudn't this:
mars_ros/src/mars_wrapper_gps.cpp
Lines 164 to 172 in 834ad79
be like this:
mars_ros/src/mars_wrapper_pose.cpp
Lines 168 to 171 in 834ad79
Thanks for sharing your work,
Hi, thanks for the great and helpful work! I converted INSANE dataset into rosbag, and tried to fuse 6 DoF VIO with IMU data using mars_ros. However, the orientation of the fused pose was diverged (it kept rotating very fast). The result is the same for other datasets I've tested. But if I set "vision1_att_meas_noise" to very large values like [10.0, 10.0, 10.0], the fused pose's orientation seems getting stable. I don't think this is right. I was wondering whether you could provide some minimal examples of mars_ros for VIO/IMU/GNSS fusion using public datasets like Euroc or INSANE. Then it would be really helpful for us to try mars_ros on more scenarios.
Looking forward to your reply. Thanks.
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