/IMUsimulation

Primary LanguageC++

IMUsimulation

Dependency

  • openCV

You should follow:

git clone --branch 3.4.6 https://github.com/opencv/opencv/
git clone --branch 3.4.6 https://github.com/opencv/opencv_contrib/
mkdir opencv/build/
cd opencv/build/
cmake -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules ..
make -j8
sudo make install

Compilation

The package can be built with Catkin. The build has been test on Ubuntu 18.04, Melodic version

Catkin Build Instructions

mkdir -p ~/ws/catkin_imu/src/
cd ~/ws/catkin_imu/src/
git clone https://github.com/Zihan-Wang/IMUsimulation.git
cd ..
catkin build

Launch Simulation

roslaunch ov_msckf simulation.launch

Topics Publish

There are three topics published.

  • /ov_msckf/poseimu

      geometry_msgs::PoseWithCovarianceStamped

  • /ov_msckf/measimu

      sensor_msgs::Imu

  • /ov_msckf/measfeat

     message::UVListstamped

  • /ov_msckf/odomimu

     nav_msgs::Odometry

  • /ov_msckf/pathimu

     nav_msgs::Path

  • /message/featsgt

     message::featsgt

more information about structure of UVListstamped and featsgt in https://github.com/Zihan-Wang/IMUsimulation/tree/master/message/msg

Sample Dataset

https://github.com/Zihan-Wang/IMUsimulation/tree/master/ov_data/sim

Custmize Launch File

<!-- set groundtruth dataset file-->
<arg name="dataset"    default="udel_gore.txt" /> <!-- euroc_V1_01_easy, udel_gore, tum_corridor1_512_16_okvis, udel_arl -->

<!-- sensor noise values / update -->
<arg name="up_msckf_sigma_px"              default="1" />
<arg name="up_msckf_chi2_multipler"        default="1" />
<arg name="up_slam_sigma_px"               default="1" />
<arg name="up_slam_chi2_multipler"         default="1" />
<arg name="up_aruco_sigma_px"              default="1" />
<arg name="up_aruco_chi2_multipler"        default="1" />
<arg name="gyroscope_noise_density"        default="1.6968e-04" />
<arg name="gyroscope_random_walk"          default="1.9393e-05" />
<arg name="accelerometer_noise_density"    default="2.0000e-3" />


<arg name="path_featsgt"    default="$(find ov_data)/sim/feats.csv" />