diff --git a/CMakeLists.txt b/CMakeLists.txt
index bb7dc43..c21a547 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -35,7 +35,6 @@ set(Eigen_LIBRARIES ${Eigen_LIBRARIES})
set(LIBRARIES
MrsUavStateEstimators_Common
- MrsUavStateEstimators_Aloam
MrsUavStateEstimators_GpsGarmin
MrsUavStateEstimators_GpsBaro
MrsUavStateEstimators_Rtk
@@ -134,23 +133,6 @@ add_dependencies(MrsUavStateEstimators_GpsBaro
${PROJECT_NAME}_gencfg
)
-add_library(MrsUavStateEstimators_Aloam
- src/estimators/state/aloam.cpp
- )
-
-target_link_libraries(MrsUavStateEstimators_Aloam
- MrsUavStateEstimators_Common
- ${catkin_LIBRARIES}
- ${Eigen_LIBRARIES}
- )
-
-## Add configure headers for dynamic reconfigure
-add_dependencies(MrsUavStateEstimators_Aloam
- ${${PROJECT_NAME}_EXPORTED_TARGETS}
- ${catkin_EXPORTED_TARGETS}
- ${PROJECT_NAME}_gencfg
- )
-
add_library(MrsUavStateEstimators_HectorGarmin
src/estimators/state/hector_garmin.cpp
)
diff --git a/config/private/aloam/aloam.yaml b/config/private/aloam/aloam.yaml
deleted file mode 100644
index f3c1573..0000000
--- a/config/private/aloam/aloam.yaml
+++ /dev/null
@@ -1,26 +0,0 @@
-mrs_uav_managers:
- estimation_manager:
- aloam: # namespace of the state estimator
- requires: # data required from the hw api
- gnss: false
- imu: false
- distance_sensor: false
- altitude: false
- magnetometer_heading: false
- position: false
- orientation: true
- velocity: true
- angular_velocity: true
-
- estimators: # the names of the partial estimators
- lateral:
- name: "lat_aloam"
- altitude:
- name: "alt_aloam"
- heading:
- name: "hdg_aloam"
- passthrough: false # if true, then heading is not estimated but passed through from the orientation topic
-
- topics:
- orientation: "hw_api/orientation" # orientation passthrough
- angular_velocity: "hw_api/angular_velocity" # angular velocity passthrough
diff --git a/config/private/aloam/alt_aloam.yaml b/config/private/aloam/alt_aloam.yaml
deleted file mode 100644
index e69de29..0000000
diff --git a/config/private/aloam/hdg_aloam.yaml b/config/private/aloam/hdg_aloam.yaml
deleted file mode 100644
index e69de29..0000000
diff --git a/config/private/aloam/lat_aloam.yaml b/config/private/aloam/lat_aloam.yaml
deleted file mode 100644
index e69de29..0000000
diff --git a/config/public/aloam/aloam.yaml b/config/public/aloam/aloam.yaml
deleted file mode 100644
index 026678e..0000000
--- a/config/public/aloam/aloam.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-mrs_uav_managers:
- estimation_manager:
- aloam: # namespace of the state estimator
- override_frame_id: # override the default frame_id with a custom one (e.g. slam_origin instead of aloam_origin)
- enabled: true
- frame_id: "slam_origin" # the desired frame_id without the UAV namespace
diff --git a/config/public/aloam/alt_aloam.yaml b/config/public/aloam/alt_aloam.yaml
deleted file mode 100644
index 799abe0..0000000
--- a/config/public/aloam/alt_aloam.yaml
+++ /dev/null
@@ -1,55 +0,0 @@
-mrs_uav_managers:
- estimation_manager:
- aloam: # namespace of the state estimator
- alt_aloam: # namespace of the altitude estimator
-
- max_flight_z: 100.0 # [m] maximum allowed flight Z (in the estimator frame)
-
- innovation:
- limit: 1.0 # [m] innovation limit that will trigger action
- action: "eland" # {"eland", "switch", "mitigate"}
-
- repredictor: # repredictor for correct fusion of delayed measurements
- enabled: true
- buffer_size: 200 # [samples] how many states and corrections are kept in history (i.e. estimator running at the default 100 Hz rate will be able to fuse corrections with up to 2 s delay with buffer size of 200 samples)
-
- process_noise: # process noise covariance (Q)
- pos: 1.0 # position state
- vel: 100.0 # velocity state
- acc: 100.0 # acceleration state
-
- corrections: [
- "pos_aloam",
- "vel_hw_api"
- ]
-
- pos_aloam:
- state_id: 0 # 0 - position, 1 - velocity, 2 - acceleration
- noise: 0.1 # measurement noise covariance (R)
- noise_unhealthy_coeff: 100.0 # covariance gets multiplied by this coefficient when correction is unhealthy (R)
- message:
- type: "nav_msgs/Odometry"
- topic: "slam/odom" # without uav namespace
- limit:
- delay: 2.0 # [s] messages with higher delay will flag correction as unhealthy
- time_since_last: 1.0 # [s] larger time step between messages will flag correction as unhealthy
-
- processors: [] # types of processors attached to this measurement
-
- vel_hw_api:
- state_id: 1 # 0 - position, 1 - velocity, 2 - acceleration
- noise: 1.0 # measurement noise covariance (R)
- noise_unhealthy_coeff: 100.0 # covariance gets multiplied by this coefficient when correction is unhealthy (R)
- message:
- type: "geometry_msgs/Vector3Stamped"
- topic: "hw_api/velocity" # without uav namespace
- limit:
- delay: 1.0 # [s] messages with higher delay will flag correction as unhealthy
- time_since_last: 0.5 # [s] larger time step between messages will flag correction as unhealthy
-
- processors: [] # types of processors attached to this measurement
-
- median_filter:
- buffer_size: 20 # the number of samples from which the median is calculated
- max_diff: 2.0 # [m] reject measurement if difference from median is over this value
-
diff --git a/config/public/aloam/hdg_aloam.yaml b/config/public/aloam/hdg_aloam.yaml
deleted file mode 100644
index 95f611d..0000000
--- a/config/public/aloam/hdg_aloam.yaml
+++ /dev/null
@@ -1,48 +0,0 @@
-mrs_uav_managers:
- estimation_manager:
- aloam: # namespace of the state estimator
- hdg_aloam: # namespace of the heading estimator
-
- max_flight_z: 100.0 # [m] maximum allowed flight Z (in the estimator frame)
-
- position_innovation_limit: 1.0 # [m] innovation limit that will trigger switch to other estimator
-
- repredictor: # repredictor for correct fusion of delayed measurements
- enabled: true
- buffer_size: 200 # [samples] how many states and corrections are kept in history (i.e. estimator running at the default 100 Hz rate will be able to fuse corrections with up to 2 s delay with buffer size of 200 samples)
-
- process_noise: # process noise covariance (Q)
- pos: 0.1 # position state
- vel: 0.1 # velocity state
-
- corrections: [
- "hdg_aloam",
- "hdg_rate_gyro"
- ]
-
- hdg_aloam:
- state_id: 0 # 0 - position, 1 - velocity, 2 - acceleration
- noise: 0.01 # measurement noise covariance (R)
- noise_unhealthy_coeff: 100.0 # covariance gets multiplied by this coefficient when correction is unhealthy (R)
- message:
- type: "nav_msgs/Odometry"
- topic: "slam/odom" # without uav namespace
- limit:
- delay: 2.0 # [s] messages with higher delay will flag correction as unhealthy
- time_since_last: 1.0 # [s] larger time step between messages will flag correction as unhealthy
-
- processors: [] # types of processors attached to this measurement
-
- hdg_rate_gyro:
- state_id: 1 # 0 - position, 1 - velocity, 2 - acceleration
- noise: 0.1 # measurement noise covariance (R)
- noise_unhealthy_coeff: 100.0 # covariance gets multiplied by this coefficient when correction is unhealthy (R)
- message:
- type: "geometry_msgs/Vector3Stamped"
- topic: "hw_api/angular_velocity" # without uav namespace
- orientation_topic: "hw_api/orientation" # without uav namespace
- limit:
- delay: 2.0 # [s] messages with higher delay will flag correction as unhealthy
- time_since_last: 1.0 # [s] larger time step between messages will flag correction as unhealthy
-
- processors: [] # types of processors attached to this measurement
diff --git a/config/public/aloam/lat_aloam.yaml b/config/public/aloam/lat_aloam.yaml
deleted file mode 100644
index ed39a9d..0000000
--- a/config/public/aloam/lat_aloam.yaml
+++ /dev/null
@@ -1,39 +0,0 @@
-mrs_uav_managers:
- estimation_manager:
- aloam: # namespace of the state estimator
- lat_aloam: # namespace of the lateral estimator
-
- hdg_source_topic: "aloam/hdg_aloam/output" # [mrs_uav_state_estimation/EstimatorOutput]
-
- innovation:
- limit: 1.0 # [m] innovation limit that will trigger action
- action: "eland" # {"eland", "switch", "mitigate"}
-
- max_flight_z: 100.0 # [m] maximum allowed flight Z (in the estimator frame)
-
- repredictor: # repredictor for correct fusion of delayed measurements
- enabled: true
- buffer_size: 200 # [samples] how many states and corrections are kept in history (i.e. estimator running at the default 100 Hz rate will be able to fuse corrections with up to 2 s delay with buffer size of 200 samples)
-
- process_noise: # process noise covariance (Q)
- pos: 1.0 # position state
- vel: 10.0 # velocity state
- acc: 0.1 # acceleration state
-
- corrections: [
- "pos_aloam"
- ]
-
- pos_aloam:
- state_id: 0 # 0 - position, 1 - velocity, 2 - acceleration
- noise: 0.001 # measurement noise covariance (R)
- noise_unhealthy_coeff: 100.0 # covariance gets multiplied by this coefficient when correction is unhealthy (R)
- message:
- type: "nav_msgs/Odometry"
- topic: "slam/odom" # without uav namespace
- limit:
- delay: 2.0 # [s] messages with higher delay will flag correction as unhealthy
- time_since_last: 1.0 # [s] larger time step between messages will flag correction as unhealthy
-
- processors: [] # types of processors attached to this measurement
-
diff --git a/estimator_plugins.xml b/estimator_plugins.xml
index d0221f7..e2a7a34 100644
--- a/estimator_plugins.xml
+++ b/estimator_plugins.xml
@@ -22,12 +22,6 @@
-
-
- Aloam state estimator
-
-
-
HectorGarmin state estimator
diff --git a/src/estimators/state/aloam.cpp b/src/estimators/state/aloam.cpp
deleted file mode 100644
index 8f52750..0000000
--- a/src/estimators/state/aloam.cpp
+++ /dev/null
@@ -1,26 +0,0 @@
-#include
-
-
-namespace mrs_uav_state_estimators
-{
-
-namespace aloam
-{
-
-const char estimator_name[] = "aloam";
-const bool is_core_plugin = true;
-
-class Aloam : public StateGeneric {
-public:
- Aloam() : StateGeneric(estimator_name, is_core_plugin) {
- }
-
- ~Aloam(void) {
- }
-};
-
-} // namespace aloam
-} // namespace mrs_uav_state_estimators
-
-#include
-PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::aloam::Aloam, mrs_uav_managers::StateEstimator)