Add IMU sensor - Githubissues

bsb808 commented 4 years ago

Add Hector IMU plugin to hybrid and non-hybrid underwater glider models: http://wiki.ros.org/hector_gazebo_plugins

Tune the configuration parameters to reflect the glider IMU (attitude and heading sensor performance supplied by WHOI

See the uw_glider_itnerface.graphml for context.

bsb808 commented 4 years ago

@WHOI Please provide the performance parameters for the IMU (attitude, compass, etc.) onboard the gliders. Best if you can specify the "XML Parameters" listed as part of the Hector ROS IMU Plugin: http://wiki.ros.org/hector_gazebo_plugins#GazeboRosImu

rcamilli commented 4 years ago

Current sensor is TCM3, performance is as follows: Heading Accuracy: 0.3 deg RMS Precision: 0.1 deg RMS

Pitch Accuracy: 0.2 deg RMS Precision: 0.1 deg RMS

Roll Accuracy: 0.2 deg RMS Precision: 0.1 deg RMS

Accelerometer values are unused by the vehicle. Vehicle flight computer calculates horizontal and vertical speed through water based on rate of ascent/descent and pitch angle.

woensug-choi commented 3 years ago

There had been an attempt to add a more complicated IMU sensor by Bruce. Which is not merged. Leaving as a note for later discussions. https://github.com/Field-Robotics-Lab/glider_hybrid_whoi/blob/2a7d0039f9de44825980669d1bc30775b9e5582a/glider_hybrid_whoi_description/urdf/uw_imu_plugin.xacro#L5-L53

greg-burgess commented 3 years ago

The TCM-3 IMU is the IMU used by the glider flight computer. The Backseat Driver (which computes navigation techniques of interest) will be using the "Sparton AHRS-M2" . This will allow for a direct serial connection from the BSD to the IMU. The Sparton AHRS-M2 has the following performance parameters: https://www.spartonnavex.com/product/ahrs-m2/

updateRate (double): 10 Hz or 100 Hz

Dynamic Heading Accuracy	1.0° RMS

0.2° RMS (<1.0⁰ RMS from -40⁰ to +70⁰ C) 1.0° RMS 0.2° RMS 0.1° RMS ± 90°, ± 180°

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 10 Hz. Performance parameters are not configured yet.

woensug-choi commented 3 years ago

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

Parameters

<updateRate>10</updateRate>
<gaussianNoise>0.00000001</gaussianNoise>
<xyzOffsets>0 0 0</xyzOffsets>
<rpyOffsets>0 0 0</rpyOffsets>

Topics

/glider_hybrid_whoi/hector_imu
/glider_hybrid_whoi/hector_imu/accel/parameter_descriptions
/glider_hybrid_whoi/hector_imu/accel/parameter_updates
/glider_hybrid_whoi/hector_imu/bias
/glider_hybrid_whoi/hector_imu/rate/parameter_descriptions
/glider_hybrid_whoi/hector_imu/rate/parameter_updates
/glider_hybrid_whoi/hector_imu/yaw/parameter_descriptions
/glider_hybrid_whoi/hector_imu/yaw/parameter_updates

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

Field-Robotics-Lab / glider_hybrid_whoi

Add IMU sensor #2