Miscellaneus to-do list

[jlblancoc]

• [x] XML includes feature
• [x] docs + tutorial with 3D camera
• [x] Jackal robot model
  • [x] ros1 demo
  • [x] ros2 demo
• [x] Monocular camera sensor:
  • [x] xml definition + docs
  • [x] publish MRPT
  • [x] publish ROS
• [ ] Stereo camera sensor:
  • [ ] xml definition + docs
  • [ ] publish MRPT
  • [ ] publish ROS
• [ ] RGBD sensor enhancement:
  • [ ] publish color point cloud to ROS
• [x] 3D lidar sensor:
  • [x] xml definition + docs
  • [x] publish MRPT
  • [x] publish ROS
• [x] 3D terrain
  • [x] Debug the flipped CMesh issue
  • [x] Demo + video + docs?
• [ ] IMU
  • [ ] Add proper drift noise models

[adthoms]

@jlblancoc in mvsim/definitions/imu.sensor.xml, including noise on the random walk of the imu (similar to how hector_gazebo_plugins does via params accelDrift and rateDrift) would be a good feature to add for a future release. The revised params in imu.sensor.xml could be revised to:

<angular_velocity_white_noise_std_noise> ... </angular_velocity_white_noise_std_noise>
<linear_acceleration_white_noise_std_noise> ... </linear_acceleration_white_noise_std_noise>
<angular_velocity_random_walk_std_noise> ... </angular_velocity_random_walk_std_noise>
<linear_acceleration_random_walk__std_noise> ... </linear_acceleration_random_walk__std_noise>

Simulations can then represent the IMU model presented in:

@article{forster2016manifold, title={On-manifold preintegration for real-time visual--inertial odometry}, author={Forster, Christian and Carlone, Luca and Dellaert, Frank and Scaramuzza, Davide}, journal={IEEE Transactions on Robotics}, volume={33}, number={1}, pages={1--21}, year={2016}, publisher={IEEE} }

[jlblancoc]

Thanks for the pointer @adthoms .

Sure, the current IMU is just a very basic type without realistic noise. I had the seminar paper in the radar for another project but didn't have at hand a reference plugin implementation, so it's welcome!

It will be even more useful when adding drones (future wish list...) ;-) (cc: @FranciscoJManasAlvarez )