Open thatnn opened 11 months ago
Eagleye has static initialization → moving initialization, and we look at the following topics:
I will look at the rosbag when I have time.
Eagleye has static initialization → moving initialization, and we look at the following topics:
- /eagleye/yaw_rate_offset_stop topic When the "enabled_status" of this topic becomes true, the static initialization (stopping for a few seconds, regardless of indoors or outdoors) is completed.
- /eagleye/heading_xx Dynamic initialization requires straight-line travel in an environment where GNSS speed is available (it's okay if a curve is included in the middle of the travel). For straight-line travel, there is a lower speed limit called "moving_judgment_threshold," and by default, it is set to 10 km/h. For low-speed vehicles, it might be acceptable to reduce it to 3-5 km/h. Here's the link to the configuration.
I will look at the rosbag when I have time.
Thank you for your reply
I changed moving_judgment_threshold: 2.78 to 0.556 or 0.834
but nothing better
I'm still waiting for your reply.
Thank you
Visualise the time series and trajectory of the angular velocity wx, speed and gnss rtk status of the imu.
I haven't been able to look at the data, but I feel that perhaps there is not enough driving in a straight line.
Thank you for your great work
I can't apply can less mode other rosbag with /nmea_sentence and /imu/data like below.
here are rosbag and my eagleye_config.yaml.
error for imu frame_id :"/base_imu", I republish frame_id: "imu" to /imu/data2
Thank you.
rosbag: https://drive.utbm.fr/s/6NcE2GSqNdGyELg
eagleye_config.yaml.