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passport's Introduction

passport

ROS node for passport

1. Installation

A. Prerequisities

B. Installation

# Setup catkin workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin init

# Add workspace to bashrc.
echo 'source ~/catkin_ws/devel/setup.bash' >> ~/.bashrc

# Clone repo
cd ~/catkin_ws/src
git clone https://github.com/aerialrob/passport.git

# Install dependencies from rosinstall file using wstool
wstool init
wstool merge passport/install/passport.rosinstall
wstool update

Finally, compile:

# Compile code
catkin build

# Refresh workspace
source ~/.bashrc

Check the ESKF resources to Install the required packages in the same workspace

https://github.com/aerialrob/eskf_odometry#readme

2. Usage

roslaunch

The launch includes sensor topics from bag file both ground truth and noisy measurements

roslaunch passport sensors_sim.launch

GPS converter to local odometry

roslaunch passport gps_convert.launch

Launch Plotjuggler Layout

roslaunch passport plot_launch.launch

Params

Params can be changed from params/sim_params.yaml

ESKF

Check the repo https://github.com/aerialrob/eskf_odometry.git to launch the bag player in the bag folder

roslaunch eskf_odometry_ros play_bag.launch

Launch the eskf node

roslaunch eskf_odometry_ros eskf_odometry_ros.launch

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