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Add EKF node #115

Merged
merged 74 commits into from
Apr 26, 2024
Merged

Add EKF node #115

merged 74 commits into from
Apr 26, 2024

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hmakelin
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@hmakelin hmakelin commented Apr 26, 2024 •
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Closes #109

Changes included in this PR:

  • TransformNode renamed to StereoNode
  • Uses EKF node from robot_localization package
  • Better (not full) compliance with REP 103/105 (adds earth frame)
  • Added bandit, vulture and some other checks to pre-commit config
  • Removes unmaintained RVizNode - new Odometry messages can be visualized as a path in RViz without custom code
  • Brings back gisnav_msgs package with new messages to better represent the output of GISNode and StereoNode
  • Various smaller fixes and documentation updates.

@hmakelin
WIP: Add visual odometry to enable computing velocity
44c2678
@hmakelin
WIP: Add visual odometry to enable computing velocity part 2
f453500
@hmakelin
WIP: Add visual odometry
4271697
@hmakelin
WIP: Add visual odometry
a742d43
@hmakelin
Update visualize_camera_position function
9b97243
@hmakelin
WIP: Add VO
7c1d86f
@hmakelin
Add transform decorator to declutter node implementation
8501cb9
@hmakelin
Check timestamps for VO chain are unbroken
4c520dc
@hmakelin
Handle timestamping for published transform frames
918c0d5
@hmakelin
Fix precommit
51d0252
@hmakelin
Add missing send transform call to transform decorator
f11423c
@hmakelin
Extend transform decorator to handle TransformStamped return values
d25e812
@hmakelin
WIP: Add VO
28c587e
@hmakelin
Do not overwrite child_frame_id for transform messages in transform d…
39c39af 
…ecorator
@hmakelin
Fix type hint checking in transform decorator
fa3d0ae
@hmakelin
Change gimbal frame id to camera in BBoxNode
18b578e
@hmakelin
Fix wrong input arg order for postprocess calls in PoseNode
8b8a7d5
@hmakelin
Fix typing errors
4f932cb
@hmakelin
WIP: Add VO
a89e60b
@hmakelin
Fix use of cache_if decorator
ffbcb00
@hmakelin
Separate deep and shallow keypoint match visualizations
d25cca4
@hmakelin
Fix y-axis flip in deep match visualization
699a5ba
@hmakelin
WIP: Add VO
e661670
@hmakelin
Refactor relative position computation in VO
1771ca1
@hmakelin
Remove redundant base.dev launch file
9f78773
@hmakelin
Fix pose differential calculation
3f1d31b
@hmakelin
Fix camera to camera_optical static transform
8cbbe2a
@hmakelin
Link up separate transform trees
f960ed9
@hmakelin
Do not invert values in inversion decorator since R and t are not inv…
c80ee5d 
…erted
@hmakelin
Refactor world to reference frame publishing in StereoNode
849be3a
@hmakelin
Fix inversion in transform decorator
4112536
@hmakelin
Publish and filter poses in a single frame
b2330cd
@hmakelin
Fix UTM zone computation when converting easting and northing back to…
8c62e18 
… lonlat.
@hmakelin
Apply affine transformation to map_gisnav frame to orientation and no…
2fd2f04 
…t just pose in PoseNode
@hmakelin
Add TODO
93a3617
@hmakelin
Update mock GPS node sensor gps message computation
07ebed6
@hmakelin
Fix heading computation
587b72e
@hmakelin
Remove dead code
b8753db
@hmakelin
Remove unmaintained and unused RVizNode
7eaf467
@hmakelin
Fix transform buffer check in StereoNode
21a2f99
@hmakelin
Use earth/ecef frame real meters instead of map_gisnav frame pseudo-m…
d28e6ee 
…eters to make velocity estimates more accurate globally
@hmakelin
Add ECEF glossary entry
a6e5629
@hmakelin
Fix orientation in ECEF/earth frame
3382527
@hmakelin
Make EKF node world frame camera_optical because that's what RViz sho…
a6adc1d 
…ws gets actually published into odometry/filtered
@hmakelin
Update RViz config
0dba310
@hmakelin
Make rotation variances smaller
3201789
@hmakelin
Fix heading and CoG computation
b7d61b3
@hmakelin
Add transforms3d as dependency
750e96c
@hmakelin
Make orientation error estimate smaller
2f30839
@hmakelin
Update mock GPS message information and PX4 SITL configurationn
1161b34 
These changes reduce frequency of failsafes triggering in SITL simulation when simulated GPS is turned off. Main culprit for failsafes triggering
has been timestamp sync issues
@hmakelin
Clean up timestamp handling in SensorGps message
fbcd5e9
@hmakelin
Update ROS topography diagram and remove obsolete tf transformations …
56941ff 
…tree diagram
@hmakelin
Refactor out proj strings in frame IDs and use custom messages instead
24fd6d0
@hmakelin
Update launch tests for changed ROS topography in EKF feature branch
1f9da35
@hmakelin
Update demo target in docker/Makefile
87d2f64
@hmakelin
Do not spin up QGISNode in default non-dev PX4 launch configuration
f0cf2f5
@hmakelin
Disable camera position debug visualization
ac27401
@hmakelin hmakelin merged commit e885f44 into master Apr 26, 2024
1 check passed
@hmakelin hmakelin deleted the hm/add-vo-ekf branch April 26, 2024 19:49
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Provide mock GPS message with more information than just 3D position
1 participant
@hmakelin