initial commit

2022-08-05 08:23:25 +03:00
commit 5ecdc6abcf
387 changed files with 3010095 additions and 0 deletions
--- a/config/rpng_ironsides/kalibr_imu_chain.yaml
+++ b/config/rpng_ironsides/kalibr_imu_chain.yaml
@@ -0,0 +1,16 @@
+%YAML:1.0
+
+imu0:
+  T_i_b:
+    - [1.0, 0.0, 0.0, 0.0]
+    - [0.0, 1.0, 0.0, 0.0]
+    - [0.0, 0.0, 1.0, 0.0]
+    - [0.0, 0.0, 0.0, 1.0]
+  accelerometer_noise_density: 0.0027052931930236323  # [ m / s^2 / sqrt(Hz) ]   ( accel "white noise" )
+  accelerometer_random_walk: 1.3054568211204843e-04   # [ m / s^3 / sqrt(Hz) ].  ( accel bias diffusion )
+  gyroscope_noise_density: 1.1186830841306218e-04     # [ rad / s / sqrt(Hz) ]   ( gyro "white noise" )
+  gyroscope_random_walk: 8.997530210630026e-07        # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
+  model: calibrated
+  rostopic: /imu0
+  time_offset: 0.0
+  update_rate: 200.0