EkfCalNode Class Reference

A ROS2 node for EKF-based sensor calibration. More...

#include <ekf_cal_node.hpp>

Inheritance diagram for EkfCalNode:

Collaboration diagram for EkfCalNode:

Public Member Functions
	EkfCalNode ()
	Constructor for the Calibration EKF Node.
void	Initialize ()
	Initialize EKF calibration node.
void	LoadSensors ()
	Load lists of sensors.
void	LoadSensorParameters (Sensor::Parameters &params, const std::string &prefix, const std::string &name)
	Load sensor common parameters. More...
void	LoadImu (const std::string &imu_name)
	Load IMU sensor. More...
void	LoadCamera (const std::string &camera_name)
	Load camera sensor. More...
void	LoadGps (const std::string &gps_name)
	Load GPS sensor. More...
Eigen::VectorXd	LoadProcessNoise ()
	Load process noise. More...
IMU::Parameters	GetImuParameters (const std::string &imu_name)
	Function for loading IMU parameters. More...
Camera::Parameters	GetCameraParameters (const std::string &camera_name)
	Function for loading camera parameters. More...
GPS::Parameters	GetGpsParameters (const std::string &gps_name)
	Function for loading camera parameters. More...
void	DeclareSensors ()
	Declare parameters for all sensors.
void	DeclareSensorParameters (const std::string &sensor_name)
	Declare generic sensor parameters. More...
void	DeclareImuParameters (const std::string &imu_name)
	Declare IMU parameters. More...
void	DeclareCameraParameters (const std::string &camera_name)
	Declare camera parameters. More...
void	DeclareTrackerParameters (const std::string &tracker_name)
	Declare tracker parameters. More...
void	DeclareIntrinsicParameters (const std::string &intrinsics_prefix)
	Declare camera intrinsic parameters. More...
void	DeclareFiducialParameters (const std::string &fid_name)
	Declare fiducial parameters. More...
Intrinsics	GetIntrinsicParameters (const std::string &intrinsics_prefix)
	Load camera intrinsic parameters. More...
void	DeclareGpsParameters (const std::string &gps_name)
	Declare GPS parameters. More...
FeatureTracker::Parameters	GetTrackerParameters (const std::string &tracker_name)
	Load tracker parameters. More...
FiducialTracker::Parameters	GetFiducialParameters (const std::string &fiducial_name)
	Load fiducial parameters. More...
void	ImuCallback (const sensor_msgs::msg::Imu::SharedPtr msg, unsigned int id)
	Callback method for IMU sensor messages. More...
void	CameraCallback (const sensor_msgs::msg::Image::SharedPtr msg, unsigned int id)
	Callback method for Camera sensor messages. More...
void	GpsCallback (const sensor_msgs::msg::NavSatFix::SharedPtr msg, unsigned int id)
	Callback method for GPS sensor messages. More...
void	RegisterImu (std::shared_ptr< RosIMU > imu_ptr, const std::string &topic)
	Register IMU sensor. More...
void	RegisterCamera (std::shared_ptr< RosCamera > camera_ptr, const std::string &topic)
	Register camera sensor. More...
void	RegisterGps (std::shared_ptr< RosGPS > gps_ptr, const std::string &topic)
	Register GPS sensor. More...
void	PublishState ()
	State publisher callback. More...

Detailed Description

A ROS2 node for EKF-based sensor calibration.

Todo:

Option to publish health metrics

Option to publish visualization messages

Create generic callback that can be used to store and sort measurements

TF2 Publishing Flag

Option to publish health metrics

Option to publish visualization messages

debug issue with future extrapolation in RVIZ

Member Function Documentation

CameraCallback()

void EkfCalNode::CameraCallback	(	const sensor_msgs::msg::Image::SharedPtr	msg,
		unsigned int	id
	)

Callback method for Camera sensor messages.

Parameters

msg	Sensor message pointer
id	Sensor ID number

DeclareCameraParameters()

void EkfCalNode::DeclareCameraParameters

(

const std::string &

camera_name

)

Declare camera parameters.

Parameters

camera_name

Camera name

DeclareFiducialParameters()

void EkfCalNode::DeclareFiducialParameters

(

const std::string &

fid_name

)

Declare fiducial parameters.

Parameters

fid_name

Fiducial name

DeclareGpsParameters()

void EkfCalNode::DeclareGpsParameters

(

const std::string &

gps_name

)

Declare GPS parameters.

Parameters

gps_name

GPS name

DeclareImuParameters()

void EkfCalNode::DeclareImuParameters

(

const std::string &

imu_name

)

Declare IMU parameters.

Parameters

imu_name

IMU name

DeclareIntrinsicParameters()

void EkfCalNode::DeclareIntrinsicParameters

(

const std::string &

intrinsics_prefix

)

Declare camera intrinsic parameters.

Parameters

intrinsics_prefix

Camera intrinsic prefix

DeclareSensorParameters()

void EkfCalNode::DeclareSensorParameters

(

const std::string &

sensor_name

)

Declare generic sensor parameters.

Parameters

sensor_name

Sensor name

DeclareTrackerParameters()

void EkfCalNode::DeclareTrackerParameters

(

const std::string &

tracker_name

)

Declare tracker parameters.

Parameters

tracker_name

Tracker name

GetCameraParameters()

Camera::Parameters EkfCalNode::GetCameraParameters

(

const std::string &

camera_name

)

Function for loading camera parameters.

Parameters

camera_name

Name of parameter structure

Returns

Camera parameters

GetFiducialParameters()

FiducialTracker::Parameters EkfCalNode::GetFiducialParameters

(

const std::string &

fiducial_name

)

Load fiducial parameters.

Parameters

fiducial_name

Name of parameter structure

Returns

Fiducial parameters

GetGpsParameters()

GPS::Parameters EkfCalNode::GetGpsParameters

(

const std::string &

gps_name

)

Function for loading camera parameters.

Parameters

gps_name

Name of parameter structure

Returns

GPS parameters

GetImuParameters()

IMU::Parameters EkfCalNode::GetImuParameters

(

const std::string &

imu_name

)

Function for loading IMU parameters.

Parameters

imu_name

Name of parameter structure

Returns

IMU parameters

GetIntrinsicParameters()

Intrinsics EkfCalNode::GetIntrinsicParameters

(

const std::string &

intrinsics_prefix

)

Load camera intrinsic parameters.

Parameters

intrinsics_prefix

Camera intrinsic prefix

GetTrackerParameters()

FeatureTracker::Parameters EkfCalNode::GetTrackerParameters

(

const std::string &

tracker_name

)

Load tracker parameters.

Parameters

tracker_name

Name of parameter structure

Returns

Tracker parameters

GpsCallback()

void EkfCalNode::GpsCallback	(	const sensor_msgs::msg::NavSatFix::SharedPtr	msg,
		unsigned int	id
	)

Callback method for GPS sensor messages.

Parameters

msg	Sensor message pointer
id	Sensor ID number

ImuCallback()

void EkfCalNode::ImuCallback	(	const sensor_msgs::msg::Imu::SharedPtr	msg,
		unsigned int	id
	)

Callback method for IMU sensor messages.

Parameters

msg	Sensor message pointer
id	Sensor ID number

LoadCamera()

void EkfCalNode::LoadCamera

(

const std::string &

camera_name

)

Load camera sensor.

Parameters

camera_name

Name of camera to find and load from YAML

LoadGps()

void EkfCalNode::LoadGps

(

const std::string &

gps_name

)

Load GPS sensor.

Parameters

gps_name

Name of GPS to find and load from YAML

LoadImu()

void EkfCalNode::LoadImu

(

const std::string &

imu_name

)

Load IMU sensor.

Parameters

imu_name

Name of IMU to find and load from YAML

LoadProcessNoise()

Eigen::VectorXd EkfCalNode::LoadProcessNoise

(

)

Load process noise.

Returns

Process noise vector

LoadSensorParameters()

void EkfCalNode::LoadSensorParameters	(	Sensor::Parameters &	params,
		const std::string &	prefix,
		const std::string &	name
	)

Load sensor common parameters.

Parameters

params	Parameter struct
prefix	Sensor parameter prefix
name	Sensor name

PublishState()

void EkfCalNode::PublishState

(

)

State publisher callback.

Todo:

Copy states before converting to vectors due to race conditions.

RegisterCamera()

void EkfCalNode::RegisterCamera	(	std::shared_ptr< RosCamera >	camera_ptr,
		const std::string &	topic
	)

Register camera sensor.

Parameters

camera_ptr	Camera sensor shared pointer
topic	Topic to subscribe

RegisterGps()

void EkfCalNode::RegisterGps	(	std::shared_ptr< RosGPS >	gps_ptr,
		const std::string &	topic
	)

Register GPS sensor.

Parameters

gps_ptr	GPS sensor shared pointer
topic	Topic to subscribe

RegisterImu()

void EkfCalNode::RegisterImu	(	std::shared_ptr< RosIMU >	imu_ptr,
		const std::string &	topic
	)

Register IMU sensor.

Parameters

imu_ptr	IMU sensor shared pointer
topic	Topic to subscribe

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The documentation for this class was generated from the following files:

• src/application/ros/node/ekf_cal_node.hpp
• src/application/ros/node/ekf_cal_node.cpp