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ctu-mrs / mrs_uav_system

The entry point to the MRS UAV system.
https://ctu-mrs.github.io/
BSD 3-Clause "New" or "Revised" License
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RTK deactivate Range finder in vertical direction #44

Closed AlyDiane closed 3 years ago

AlyDiane commented 3 years ago

Hello MRS team

We are using the RTk gps for our simulation and noticed that it uses the range finder in the vertical direction. Would it be possible to use the RTK gps in all directions?

Best regards Aly

DanHert commented 3 years ago

Hello, the RTK altitude estimator is currently not implemented in the system (to my best knowledge), but it will probably be an easy addition, what do you think @petrlmat?

petrlmat commented 3 years ago

It should be possible. I will take a look at that.

petrlmat commented 3 years ago

So the RTK altitude estimator is now available. Pull uav_core and put altitude_estimator: "RTK" and altitude/use_rtk_altitude: true into your odometry config to enable it.

AlyDiane commented 3 years ago

Hello,

Sorry for the late reply. We tested the the RTK in the vertical direction but it seems to not work. You can find the video of the test in the attachment.

Best regards Aly

https://user-images.githubusercontent.com/68328413/111337998-db64a080-8676-11eb-8ad7-49ac20fc7672.mp4

petrlmat commented 3 years ago

Hi, I forgot to mention one more step, sorry for that. Please add the --enable-ground-truth argument to the spawn command, e.g., rosservice call /mrs_drone_spawner/spawn "1 t650 --enable-ground-truth".

After that, the RTK corrections will be used and you should see this line in the control tab of the tmux session: [Odometry]: Fusing RTK position

Regards, Matej

AlyDiane commented 3 years ago

Hi,

It works! thank you!

Best regards Aly