Sensor filters and ROS topic reorganization

[patrick-5546]

Filters

GPS (CAN, AIS)

• Longitude, latitude: average
• speed, heading degrees: vector average

windSensor (1, 2, 3)

• measured speed, measured heading/direction degrees: vector average

Conversions

https://github.com/UBCSailbot/local-pathfinding/blob/481a71c323d88d5840bfb286775ea2d921ef1792/python/ros_interface.py#L92-L96

Configuration

• [testing enhancement] set the active gps sensors so that not all of them have to be set up https://github.com/UBCSailbot/local-pathfinding/blob/a0ed9ef83953f9925646fd4e54dc04ebc5835f0c/python/ros_interface.py#L14
• [testing enhancement] set the active wind sensors so that not all of them have to be set up https://github.com/UBCSailbot/local-pathfinding/blob/481a71c323d88d5840bfb286775ea2d921ef1792/python/ros_interface.py#L14
• weighted sensor 1 the highest because it is at the top of the mast; sensor 2 and 3 are at either side of the stern, so they should have similar readings. This can be easily changed https://github.com/UBCSailbot/local-pathfinding/blob/481a71c323d88d5840bfb286775ea2d921ef1792/python/ros_interface.py#L15
• change the EMWA weights and thresholds
  • WIND_EWMA_WEIGHTS[i] will be used when WIND_EWMA_UPPER_BOUNDS[i] is the first element larger than the current value https://github.com/UBCSailbot/local-pathfinding/blob/da63ff9e948c50f944155142615991c0c9f79b49/python/ros_interface.py#L19-L20
  • wandb logs
  • logs analysis

See the commit history for more details on what has changed