feat(#167): removed IMU as an EKF input

code/acting/src/acting/vehicle_controller.py

@@ -125,7 +125,7 @@ def loop(timer_event=None) -> None:
 
  message.hand_brake = False
  message.manual_gear_shift = False
- message.steer = steer
+ message.steer = steer + 0.125 # todo: remove + 0.125
  message.gear = 1
  message.header.stamp = roscomp.ros_timestamp(self.get_time(),
  from_sec=True)

code/acting/src/acting/velocity_publisher_dummy.py

@@ -23,9 +23,9 @@ def __init__(self):
  Float32,
  f"/carla/{self.role_name}/max_velocity",
  qos_profile=1)
- self.velocity = 7
- self.delta_velocity = 0.25
- self.max_velocity = 10
+ self.velocity = 5
+ self.delta_velocity = 0
+ self.max_velocity = 5
  self.min_velocity = 5
  self.__dv = self.delta_velocity
 

code/agent/config/dev_objects.json

@@ -11,9 +11,9 @@
  "role_name": "hero",
  "spawn_point": {
  "x": 983.5,
- "y": -5373.2,
- "z": 371.5,
- "yaw": -90.0,
+ "y": -5893.2,
+ "z": 368.0,
+ "yaw": 0.0,
  "pitch": 0.0,
  "roll": 0.0
  },

code/perception/launch/perception.launch

@@ -21,9 +21,9 @@
  <param name="freq" value="20.0"/>
  <param name="sensor_timeout" value="10.0"/>
  <param name="odom_used" value="false"/>
- <param name="imu_used" value="true"/>
+ <param name="imu_used" value="false"/>
  <param name="vo_used" value="true"/>
- <param name="debug" value="true"/>
- <param name="self_diagnose" value="true"/>
+ <param name="debug" value="false"/>
+ <param name="self_diagnose" value="false"/>
  </node>
 </launch>

code/perception/src/EKFTranslationNode.py

@@ -11,7 +11,7 @@
 from coordinate_transformation import CoordinateTransformer, GeoRef
 
 
-GPS_RUNNING_AVG_ARGS = 3 # points taken into account for the avg
+GPS_RUNNING_AVG_ARGS = 5 # points taken into account for the avg
 
 
 class EKFTranslation(CompatibleNode):
@@ -66,6 +66,7 @@ def __init__(self):
  qos_profile=1)
 
  self.avg_xyz = np.zeros((GPS_RUNNING_AVG_ARGS, 3))
+ self.__publish_counter: int = 0
  # 3D Odometry (GPS)
  self.ekf_vo_publisher = self.new_publisher(
  Odometry,
@@ -142,7 +143,9 @@ def update_gps_data(self, data: NavSatFix):
  0, 0, 0, 0, 999999, 0,
  0, 0, 0, 0, 0, 999999]
 
- self.ekf_vo_publisher.publish(odom_msg)
+ self.__publish_counter += 1
+ if self.__publish_counter % 5 == 0:
+ self.ekf_vo_publisher.publish(odom_msg)
 
  def run(self):
  """