js5t3r / tu-darmstadt-ros-pkg Goto Github PK

Add ground_truth/linear_acceleration_bias and 
ground_truth/angular_velocity_bias (geometry_msgs/Vector3Stamped) publishers to 
the IMU plugin

In hector_mapping, MapRepMultiMap.h implements the MapRepMultiMap class, which 
has a method matchData(). To my understanding, from the article "A Flexible and 
Scalable SLAM System with Full 3D Motion Estimation", this method should go 
through all the map levels and match the DataContainer with each one. However, 
the current implementation does not do so.

A local variable "index" is declared and used in a for loop iterating through 
all the maps in the MapRepMultiMap object, but this index remains unchanged 
between iterations.

The result is a (presumably) suboptimal matching, as it does not utilize all 
the available data. Additionally, not all the MapProcContainers are updated.

The following is a draft for a new implementation (untested):

size_t size = mapContainer.size();
Eigen::Vector3f tmp(beginEstimateWorld);

for (size_t i = size - 1; i >= 0; i--) {
    if (i == 0) {
        tmp = mapContainer[i].matchData(tmp, dataContainer, covMatrix, 5);
    } else {
        dataContainers[i - 1].setFrom(dataContainer, static_cast<float>(1.0 / pow(2.0, static_cast<double>(i))));
        tmp = mapContainer[i].MatchData(tmp, dataContainers[i - 1], covMatrix, 3);
    }
}

I hope this bug can be resolved.

Regards,
Mikael Berg

I am using GazeboRosSonar to model some Parallax Ping sonars, and I get the 
following errors:

Error [Param.cc:250] Parameter [offset] is a [string], attempting to get as a 
double.
Error [Param.cc:250] Parameter [drift] is a [string], attempting to get as a 
double.
Error [Param.cc:250] Parameter [driftFrequency] is a [string], attempting to 
get as a double.
Error [Param.cc:250] Parameter [gaussianNoise] is a [string], attempting to get 
as a double.

Removing the param does not help, since it complains about them being missing.

I believe this is actually fixed in SVN, can you please do a point release for 
groovy?

In the fuerte branch, the newest update has separated the simple controller 
urdf file from the quadrotor base file, but the rewritten part for pid 
controller parameters would make the controller can not get their parameters, 
for example (rollpitch controller): 
<rollpitch>
   <proportionalGain>10.0</proportionalGain>
   <differentialGain>5.0</differentialGain>
   <limit>0.5</limit>
</rollpitch>

but in the cpp file, the parameter is got through this line: 
if (_sdf->HasElement(prefix + "ProportionalGain"))

Thanks for review!