Generic Sensor Fusion Package for ROS

Implementation of estimation methods for low-level sensor fusion in C++ libraries with a generic ROS node using this framework.

Implemented methods/algorithms are:

• Weighted Moving Averaging
• Moving Median
• Kalman Filter
• Extended Kalman Filter
• Unscented Kalman Filter
• Sampling Importance Resampling (Particle Filtering)

Installation

These packages depend on Eigen3, so when not installed (you will get an error when running catkin_make if so), get it from http://eigen.tuxfamily.org/index.php?title=Main_Page. It is sufficient to copy the directory 'Eigen/' from this archive to /usr/include/eigen3, i.e. there is no installation necessary.

Directory Structure

• sf_estimation: the generic low-level sensor fusion framework implementing the state estimation algorithms or filters respectively.
• sf_msgs: package containing the messages a sf_filter node can publish.
• sf_filter: the source for the ROS node with configuration. Copy this folder to create another concrete filter.
• doc: documentation of code, examples, tutorials, trouble shooting
• examples: some example configurations for a filtering ROS node.

Usage

As mentioned above sf_filter contains a concrete filter which can be used as a template. Copy this folder to create your own one. The directory structure of a concrete filter is:

• filter: a directory containing the source for the concrete filter, in particular the configuration. Do not modify or move this folder.
• config.h: the filter's configuration header. Change type and parameters of your filter here.
• package.xml: the package.xml file for catkin which defines properties and dependencies of the package, i.e. of the ROS node. Change here the name of the package and add your additional message dependencies, e.g. geometry_msgs.
• CMakeLists.txt: the cmake configuration file. You have to modify at least the project name, which must equal the specified package name in package.xml.

Documentation

The documentation contains tutorials, examples, trouble shooting and of course the documentation of the source code.

A configuration file for generating the documentation with doxygen is provided in the doc-folder(s).

1. Change to the doc-directory.

2. Open a terminal window and generate the documentation (doxygen is required) with following command:

   ''doxygen Doxyfile''

The documentation is then located in the generated html-folder. To view the main page open index.html in a browser.