eagleye
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Published
20 hours ago •
MapIV
MapIV
Position seems to be offsetted in Eagleye. What could be causing this?
The yellow dot in the below video is the ground truth and the blue dot is the estimated location provided by Eagleye. I am using the autoware-main branch
Here is the parameter file being used
/**: #GNSS cycle 5Hz, IMU cycle 50Hz.
ros__parameters:
# Estimate mode
use_gnss_mode: rtklib
use_can_less_mode: false
use_multi_antenna_mode: true
# Topic
twist:
twist_type: 0 # TwistStamped : 0, TwistWithCovarianceStamped: 1
twist_topic: /eagleye_input/can_twist
imu_topic: /novatel_interface/imu
gnss:
velocity_source_type: 3 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3
velocity_source_topic: /novatel_interface/twist
llh_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, sensor_msgs/NavSatFix: 2
llh_source_topic: /novatel_interface/fix
sub_gnss:
llh_source_type: 2 # nmea_msgs/Sentence: 1, sensor_msgs/NavSatFix: 2
llh_source_topic: /sensing/sub_gnss/ublox/nav_sat_fix
# TF
tf_gnss_frame:
parent: "base_link"
child: "novatel"
# Origin of GNSS coordinates (ECEF to ENU)
ecef_base_pos:
x: 0.0
y: 0.0
z: 0.0
use_ecef_base_position: false
reverse_imu_wz: false
# Navigation Parameters
# Basic Navigation Functions
common:
imu_rate: 100
gnss_rate: 20
stop_judgment_threshold: 0.01
slow_judgment_threshold: 0.278
moving_judgment_threshold: 2.0
velocity_scale_factor:
estimated_minimum_interval: 20
estimated_maximum_interval: 400
gnss_receiving_threshold: 0.25
save_velocity_scale_factor: false
velocity_scale_factor_save_duration: 100.0
th_velocity_scale_factor_percent: 10.0
yaw_rate_offset_stop:
estimated_interval: 3
outlier_threshold: 0.002
yaw_rate_offset:
estimated_minimum_interval: 30
gnss_receiving_threshold: 0.25
outlier_threshold: 0.002
1st:
estimated_maximum_interval: 300
2nd:
estimated_maximum_interval: 500
heading:
estimated_minimum_interval: 10
estimated_maximum_interval: 30
gnss_receiving_threshold: 0.25
outlier_threshold: 0.0524
outlier_ratio_threshold: 0.5
curve_judgment_threshold: 0.0873
init_STD: 0.0035 #[rad] (= 0.2 [deg])
heading_interpolate:
sync_search_period: 2
proc_noise: 0.0005 #[rad] (= 0.03 [deg])
slip_angle:
manual_coefficient: 0.0
slip_coefficient:
estimated_minimum_interval: 2
estimated_maximum_interval: 100
curve_judgment_threshold: 0.017453
lever_arm: 0.0
rolling:
filter_process_noise: 0.01
filter_observation_noise: 1
trajectory:
curve_judgment_threshold: 0.017453
timer_update_rate: 10
deadlock_threshold: 1
sensor_noise_velocity: 0.05
sensor_scale_noise_velocity: 0.02
sensor_noise_yaw_rate: 0.01
sensor_bias_noise_yaw_rate: 0.1
smoothing:
moving_average_time: 3
moving_ratio_threshold: 0.1
height:
estimated_minimum_interval: 200
estimated_maximum_interval: 2000
update_distance: 0.1
gnss_receiving_threshold: 0.1
outlier_threshold: 0.3
outlier_ratio_threshold: 0.5
moving_average_time: 1
position:
estimated_interval: 300
update_distance: 0.1
outlier_threshold: 3.0
gnss_receiving_threshold: 0.25
outlier_ratio_threshold: 0.5
position_interpolate:
sync_search_period: 2
# Optional Navigation Functions
angular_velocity_offset_stop:
estimated_interval: 4
outlier_threshold: 0.002
rtk_dead_reckoning:
rtk_fix_STD: 0.3 #[m]
proc_noise: 0.05 #[m]
rtk_heading:
update_distance: 0.3
estimated_minimum_interval: 10
estimated_maximum_interval: 30
gnss_receiving_threshold: 0.25
outlier_threshold: 0.0524
outlier_ratio_threshold: 0.5
curve_judgment_threshold: 0.0873
enable_additional_rolling:
update_distance: 0.3
moving_average_time: 1
sync_judgment_threshold: 0.01
sync_search_period: 1
velocity_estimator:
gga_downsample_time: 0.5
stop_judgment_velocity_threshold: 0.2
stop_judgment_interval: 1
variance_threshold: 0.000025
pitch_rate_offset:
estimated_interval: 8
pitching:
estimated_interval: 5
outlier_threshold: 0.0174
gnss_receiving_threshold: 0.2
outlier_ratio_threshold: 0.5
acceleration_offset:
estimated_minimum_interval: 30
estimated_maximum_interval: 500
filter_process_noise: 0.01
filter_observation_noise: 1
doppler_fusion:
estimated_interval: 4
gnss_receiving_threshold: 0.2
outlier_ratio_threshold: 0.5
outlier_threshold: 0.1
And here is the launch file
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import Node
from base_common.launch import create_node_name_with_launch_var, get_sim_time_launch_arg, get_share_file
## TODO(github/sisaha9): Look into replacing all the namespaces with PushRosNamespace
def generate_launch_description():
declare_use_sim_time_cmd, use_sim_time = get_sim_time_launch_arg()
eagleye_config_fp = DeclareLaunchArgument("eagleye_config_fp", default_value="None", description="Path to the eagleye config file to use")
unique_identifier = DeclareLaunchArgument("unique_identifier", default_value="None", description="Unique identifier to use")
twist_relay_node = Node(
package="eagleye_rt",
executable="twist_relay",
namespace=LaunchConfiguration("unique_identifier"),
name="eagleye_twist_relay",
parameters=[
LaunchConfiguration("eagleye_config_fp"),
use_sim_time
],
)
tf_converted_imu_node = Node(
package="eagleye_rt",
executable="tf_converted_imu",
namespace=LaunchConfiguration("unique_identifier"),
name="eagleye_tf_converted_imu",
parameters=[
LaunchConfiguration("eagleye_config_fp"),
use_sim_time
]
)
velocity_scale_factor_node = Node(
package="eagleye_rt",
executable="velocity_scale_factor",
namespace=LaunchConfiguration("unique_identifier"),
name="eagleye_velocity_scale_factor",
parameters=[
LaunchConfiguration("eagleye_config_fp"),
use_sim_time,
{ "velocity_scale_factor_save_str": (
get_share_file("autoware_localization_launch", "config"),
"/",
LaunchConfiguration("unique_identifier"),
"/velocity_scale_factor.txt",
),
"yaml_file" : LaunchConfiguration("eagleye_config_fp")
}
]
)
yaw_rate_offset_stop_node = Node(
package="eagleye_rt",
executable="yaw_rate_offset_stop",
namespace=LaunchConfiguration("unique_identifier"),
name="eagleye_yaw_rate_offset_stop",
parameters=[
LaunchConfiguration("eagleye_config_fp"),
use_sim_time,
{"yaml_file" : LaunchConfiguration("eagleye_config_fp")}
]
)
yaw_rate_offset_node_1st = Node(
package="eagleye_rt",
executable="yaw_rate_offset",
namespace=LaunchConfiguration("unique_identifier"),
name="eagleye_yaw_rate_offset_1st",
arguments=["1st"],
parameters=[
LaunchConfiguration("eagleye_config_fp"),
use_sim_time,
{"yaml_file" : LaunchConfiguration("eagleye_config_fp")}
]
)
yaw_rate_offset_node_2nd = Node(
package="eagleye_rt",
executable="yaw_rate_offset",
namespace=LaunchConfiguration("unique_identifier"),
name="eagleye_yaw_rate_offset_2nd",
arguments=["2nd"],
parameters=[
LaunchConfiguration("eagleye_config_fp"),
use_sim_time,
{"yaml_file" : LaunchConfiguration("eagleye_config_fp")}
]
)
heading_node_1st = Node(
package="eagleye_rt",
executable="heading",
namespace=LaunchConfiguration("unique_identifier"),
name="eagleye_heading_1st",
arguments=["1st"],
parameters=[
LaunchConfiguration("eagleye_config_fp"),
use_sim_time,
{"yaml_file" : LaunchConfiguration("eagleye_config_fp")}
]
)
heading_node_2nd = Node(
package="eagleye_rt",
executable="heading",
namespace=LaunchConfiguration("unique_identifier"),
name="eagleye_heading_2nd",
arguments=["2nd"],
parameters=[
LaunchConfiguration("eagleye_config_fp"),
use_sim_time,
{"yaml_file" : LaunchConfiguration("eagleye_config_fp")}
]
)
heading_node_3rd = Node(
package="eagleye_rt",
executable="heading",
namespace=LaunchConfiguration("unique_identifier"),
name="eagleye_heading_3rd",
arguments=["3rd"],
parameters=[
LaunchConfiguration("eagleye_config_fp"),
use_sim_time,
{"yaml_file" : LaunchConfiguration("eagleye_config_fp")}
]
)
heading_interpolate_node_1st = Node(
package="eagleye_rt",
executable="heading_interpolate",
namespace=LaunchConfiguration("unique_identifier"),
name="eagleye_heading_interpolate_1st",
arguments=["1st"],
parameters=[
LaunchConfiguration("eagleye_config_fp"),
use_sim_time,
{"yaml_file" : LaunchConfiguration("eagleye_config_fp")}
]
)
heading_interpolate_node_2nd = Node(
package="eagleye_rt",
executable="heading_interpolate",
namespace=LaunchConfiguration("unique_identifier"),
name="eagleye_heading_interpolate_2nd",
arguments=["2nd"],
parameters=[
LaunchConfiguration("eagleye_config_fp"),
use_sim_time,
{"yaml_file" : LaunchConfiguration("eagleye_config_fp")}
]
)
heading_interpolate_node_3rd = Node(
package="eagleye_rt",
executable="heading_interpolate",
namespace=LaunchConfiguration("unique_identifier"),
name="eagleye_heading_interpolate_3rd",
arguments=["3rd"],
parameters=[
LaunchConfiguration("eagleye_config_fp"),
use_sim_time,
{"yaml_file" : LaunchConfiguration("eagleye_config_fp")}
]
)
slip_angle_node = Node(
package="eagleye_rt",
executable="slip_angle",
namespace=LaunchConfiguration("unique_identifier"),
name="eagleye_slip_angle",
parameters=[
LaunchConfiguration("eagleye_config_fp"),
use_sim_time,
{"yaml_file" : LaunchConfiguration("eagleye_config_fp")},
]
)
distance_node = Node(
package="eagleye_rt",
executable="distance",
namespace=LaunchConfiguration("unique_identifier"),
name="eagleye_distance",
parameters=[
LaunchConfiguration("eagleye_config_fp"),
use_sim_time
]
)
trajectory_node = Node(
package="eagleye_rt",
executable="trajectory",
namespace=LaunchConfiguration("unique_identifier"),
name="eagleye_trajectory",
parameters=[
LaunchConfiguration("eagleye_config_fp"),
use_sim_time,
{"yaml_file" : LaunchConfiguration("eagleye_config_fp")},
]
)
position_node = Node(
package="eagleye_rt",
executable="position",
namespace=LaunchConfiguration("unique_identifier"),
name="eagleye_position",
parameters=[
LaunchConfiguration("eagleye_config_fp"),
use_sim_time,
{"yaml_file" : LaunchConfiguration("eagleye_config_fp")},
]
)
position_interpolate_node = Node(
package="eagleye_rt",
executable="position_interpolate",
namespace=LaunchConfiguration("unique_identifier"),
name="eagleye_position_interpolate",
parameters=[
LaunchConfiguration("eagleye_config_fp"),
use_sim_time,
{"yaml_file" : LaunchConfiguration("eagleye_config_fp")},
]
)
smoothing_node = Node(
package="eagleye_rt",
executable="smoothing",
namespace=LaunchConfiguration("unique_identifier"),
name="eagleye_smoothing",
parameters=[
LaunchConfiguration("eagleye_config_fp"),
use_sim_time,
{"yaml_file" : LaunchConfiguration("eagleye_config_fp")},
]
)
height_node = Node(
package="eagleye_rt",
executable="height",
namespace=LaunchConfiguration("unique_identifier"),
name="eagleye_height",
parameters=[
LaunchConfiguration("eagleye_config_fp"),
use_sim_time,
{"yaml_file" : LaunchConfiguration("eagleye_config_fp")},
]
)
angular_velocity_offset_stop_node = Node(
package="eagleye_rt",
executable="angular_velocity_offset_stop",
namespace=LaunchConfiguration("unique_identifier"),
name="eagleye_angular_velocity_offset_stop",
parameters=[
LaunchConfiguration("eagleye_config_fp"),
use_sim_time,
{"yaml_file" : LaunchConfiguration("eagleye_config_fp")},
]
)
correction_imu_node = Node(
package="eagleye_rt",
executable="correction_imu",
namespace=LaunchConfiguration("unique_identifier"),
name="eagleye_correction_imu",
parameters=[
LaunchConfiguration("eagleye_config_fp"),
use_sim_time
]
)
rolling_node = Node(
package="eagleye_rt",
executable="rolling",
namespace=LaunchConfiguration("unique_identifier"),
name="eagleye_rolling",
parameters=[
LaunchConfiguration("eagleye_config_fp"),
use_sim_time,
{"yaml_file" : LaunchConfiguration("eagleye_config_fp")}
]
)
gnss_converter_node = Node(
package="eagleye_gnss_converter",
executable="gnss_converter",
namespace=(
LaunchConfiguration("unique_identifier"),
"/gnss"
),
name="eagleye_gnss_converter",
parameters=[
LaunchConfiguration("eagleye_config_fp"),
use_sim_time
]
)
return LaunchDescription([
declare_use_sim_time_cmd,
eagleye_config_fp,
unique_identifier,
twist_relay_node,
tf_converted_imu_node,
velocity_scale_factor_node,
yaw_rate_offset_stop_node,
yaw_rate_offset_node_1st,
yaw_rate_offset_node_2nd,
heading_node_1st,
heading_node_2nd,
heading_node_3rd,
heading_interpolate_node_1st,
heading_interpolate_node_2nd,
heading_interpolate_node_3rd,
slip_angle_node,
distance_node,
trajectory_node,
position_node,
position_interpolate_node,
smoothing_node,
height_node,
angular_velocity_offset_stop_node,
correction_imu_node,
rolling_node,
gnss_converter_node
])
Not sure if this should be in a separate issue but it doesn't look like the RPY get's updated either as seen in the pose on the top left panel that comes in the screen a couple of times
Hi @rsasaki0109 . Here is a link: https://drive.google.com/drive/folders/1nmsM7Fz6pjkn_Nj_x4qW8Ee0N8TxVvRi?usp=sharing . It is right now shared with the public email on your Github profile
Thank you. I'm busy during the weekdays this week so I'll look at it in my free time.