estimator plugin

.gitignore

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+*.sw*

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+cmake_policy(SET CMP0048 NEW)
+project(mrs_vins_mono_estimator_plugin)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  mrs_uav_managers
+  mrs_uav_state_estimators
+  )
+
+set(LIBRARIES
+  MrsUavStateEstimators_VinsMono
+  )
+
+catkin_package(
+  CATKIN_DEPENDS
+  mrs_uav_managers
+  mrs_uav_state_estimators
+  )
+
+find_package(mrs_uav_state_estimators REQUIRED)
+
+###########
+## Build ##
+###########
+
+add_library(MrsUavStateEstimators_VinsMono
+  src/vins_mono_plugin.cpp
+  )
+
+add_dependencies(MrsUavStateEstimators_VinsMono
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+  )
+
+target_link_libraries(MrsUavStateEstimators_VinsMono
+  ${catkin_LIBRARIES}
+  )
+
+target_include_directories(MrsUavStateEstimators_VinsMono
+  PRIVATE
+  ${catkin_INCLUDE_DIRS}
+  )
+
+## --------------------------------------------------------------
+## |                           Install                          |
+## --------------------------------------------------------------
+
+install(TARGETS ${LIBRARIES}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+  )
+
+install(DIRECTORY custom_configs
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  )
+
+install(FILES estimator_plugins.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  )

LICENSE

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+BSD 3-Clause License
+
+Copyright (c) 2023, Multi-robot Systems (MRS) group at Czech Technical University in Prague
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

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+# MRS VINS-Mono Estimator Plugin
+
+The state estimator plugin based on corrections from vins_mono algorithm. 
+Loaded by EstimationManager from `mrs_uav_managers`.
+
+> :warning: **Attention please: This README needs work.**
+>
+> The MRS UAV System 1.5 is being released and this page needs updating. Please, keep in mind that the information on this page might not be valid.
+

estimator_plugins.xml

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+<library path="lib/libMrsUavStateEstimators_VinsMono">
+  <class name="vins_mono/VinsMonoEstimatorPlugin" type="vins_mono::VinsMono" base_class_type="mrs_uav_managers::StateEstimator">
+    <description>vins_mono state estimator</description>
+  </class>
+</library>

package.xml

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+<?xml version="1.0"?>
+<package format="2">
+
+  <name>mrs_vins_mono_estimator_plugin</name>
+  <version>1.0.0</version>
+  <description>MRS vins_mono state estimator plugin</description>
+
+  <maintainer email="[email protected]">Matej Petrlik</maintainer>
+  <author>Matej Petrlik</author>
+
+  <license>TODO</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>roscpp</depend>
+
+  <depend>mrs_uav_managers</depend>
+  <depend>mrs_uav_state_estimators</depend>
+
+  <export>
+    <mrs_uav_managers plugin="${prefix}/estimator_plugins.xml" />
+  </export>
+
+</package>

src/vins_mono_plugin.cpp

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+#include <mrs_uav_state_estimators/estimators/state/state_generic.h>
+
+namespace vins_mono
+{
+
+const char estimator_name[] = "vins_mono";
+const bool is_core_plugin = false;
+
+class VinsMono : public mrs_uav_state_estimators::StateGeneric {
+public:
+  VinsMono() : mrs_uav_state_estimators::StateGeneric(estimator_name, is_core_plugin) {
+  }
+
+  ~VinsMono(void) {
+  }
+};
+
+}  // namespace vins_mono
+
+#include <pluginlib/class_list_macros.h>
+PLUGINLIB_EXPORT_CLASS(vins_mono::VinsMono, mrs_uav_managers::StateEstimator)
+