Add GPS sensor - Githubissues

bsb808 commented 4 years ago

Add Hector GPS plugin to hybrid and non-hybrid underwater glider models: http://wiki.ros.org/hector_gazebo_plugins
Tune the GPS configuration parameters to reflect the glider GPS sensor performance supplied by WHOI
The GPS only gets a fix when at the surface (antenna out of the water).
- Can we simulate this behavior with the existing plugin?
- If not - add an intermediate ROS node in Python that subscribes the the plugin outputs and only published the GPS fix information when glider is at this surface. Can use the model state information from Gazebo to determine if the glider is at the surface (or some other method).
- Could also evaluate if the UUV Simulator plugin would be of use https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_sensor_plugins/uuv_sensor_ros_plugins/include/uuv_sensor_ros_plugins/GPSROSPlugin.hh

bsb808 commented 4 years ago

@WHOI Please provide the performance parameters for the GPS receiver onboard the gliders. Best if you can specify the "XML Parameters" listed as part of the Hector ROS GPS Plugin: http://wiki.ros.org/hector_gazebo_plugins#GazeboRosGps

BruceMty commented 4 years ago

@bsb808 I did not find GPS configuration parameters supplied by WHOI. I used values found at https://answers.gazebosim.org//question/6220/gps-sensor-in-gazebo-19/a. For elevation, I enable GPS publish when elevation reaches -0.1 meters.

bsb808 commented 4 years ago

@whoi Please provide the performance parameters for the GPS receiver onboard the gliders. Best if you can specify the "XML Parameters" listed as part of the Hector ROS GPS Plugin: http://wiki.ros.org/hector_gazebo_plugins#GazeboRosGps

greg-burgess commented 3 years ago

Performance Parameters for GPS onboard Slocum Glider --most interested in starting point (before submerging), and ending point (surfacing) for each dive. Also, the minute prior to submerging in order to calculate the surface drift of the glider.

updateRate: 4000 (milliseconds)

robotNamespace: (unsure -use standard prefixes) bodyName: glider? frameId: defaults to empty topicName: default velocityTopicName: default

referenceLatitude: double degrees north referenceLongitude: double degrees east

referenceHeading: not needed referenceAltitude: not needed

status: default is fine service: default is fine offset: negligible and within noise (0,0,0)

*most likely will not need this information, default or zero is fine drift: use default driftFrequency: use default gaussianNoise: use default velocityOffset: default velocityDrift: default velocityDriftFrequency: default velocityGaussianNoise: default

woensug-choi commented 3 years ago

Made a PR https://github.com/Field-Robotics-Lab/glider_hybrid_whoi/pull/28 which add a hector IMU sensor. I've set the update rate to 0.25 Hz. Performance parameters are not configured yet (set to zero)

woensug-choi commented 3 years ago

PR https://github.com/Field-Robotics-Lab/glider_hybrid_whoi/pull/28 is merged.

Parameters

<updateRate>0.25</updateRate>
<drift>0.0 0.0 0.0</drift>
<gaussianNoise>0.0 0.0 0.0</gaussianNoise>
<velocityDrift>0 0 0</velocityDrift>
<velocityGaussianNoise>0.0 0.0 0.0</velocityGaussianNoise>
<epsg_projection>26987</epsg_projection>

Topics

/glider_hybrid_whoi/hector_gps
/glider_hybrid_whoi/hector_gps/position/parameter_descriptions
/glider_hybrid_whoi/hector_gps/position/parameter_updates
/glider_hybrid_whoi/hector_gps/status/parameter_descriptions
/glider_hybrid_whoi/hector_gps/status/parameter_updates
/glider_hybrid_whoi/hector_gps/velocity/parameter_descriptions
/glider_hybrid_whoi/hector_gps/velocity/parameter_updates
/glider_hybrid_whoi/hector_gps_velocity

Closing this issue page as it was for initial sensor set-up discussions. Please revive this issue page when we need further specifications or discussions.

Field-Robotics-Lab / glider_hybrid_whoi

Add GPS sensor #1