urdf_estimation_with_imus

Estimation module for URDF with multiple IMUs

Installation

For detailed information on dependent packages, it may be helpful to refer to the docker/Dockerfiles.

python package

cd urdf_estimation_with_imus
pip3 install -r pypkg/requirements.txt
pip3 install -e pypkg/

ros package

After installing our python package, then

cd ~/catkin_ws/src
catkin build urdf_estimation_with_imus

Estimation Demo with rosbag

• On the terminal window 1,

roscore

• On the terminal window 2,

roslaunch urdf_estimation_with_imus twoimus.launch # you can shutdown this immediately
roslaunch urdf_estimation_with_imus imu_preproc.launch

NOTE: twoimus.launch supplies rosparam /symbolic_robot_description.

• On the terminal window 3,

rosbag play -r 3.0 ./bags/sample/twoimus_200mm_for_calibration.bag

NOTE: The calibration process takes a few minutes. You can use -r option of rosbag for quick calibration.

• On the terminal window 4,

rosrun urdf_estimation_with_imus extleastsq_estim_imu_relpose.py --this imu0 --child imu1

NOTE: This is the estimator of relative pose of imu1 with respect to imu0.

• On the terminal window 5,

rosrun urdf_estimation_with_imus relpose_visualizer.py --this imu0 --child imu1

NOTE: This is the visualizer of estimation results.

• On the terminal window 6,

rosbag play ./bags/sample/twoimus_200mm_sample.bag

NOTE: The groundtruth of relative pose is as follows:

• true position: [-0.200, 0., 0.]
• true rotation(wxyz): [1., 0., 0., 0.] or [-1., 0., 0., 0.]

When you perform these steps, you will see the following results in terminal 4:

position      : [-0.19706455  0.00316656 -0.00375119]
rotation(wxyz): [ 9.99877238e-01 -9.64530793e-04 -7.83922661e-03 -1.35323849e-02]

Docker

debug image

• mount the host package and build it in the container
• this is useful for debugging on the host

cd docker
docker-compose up --build --force-recreate debug
docker exec -it urdfestim_debug bash

test image

• clone the package directly from github and build it in the container
• this is useful for validation of our paper's method.

cd docker
docker-compose up --build --force-recreate test
docker exec -it urdfestim_test bash