SCAL

ROS implementation of UWB-IMU-Odometer Fusion for Simultaneous Calibration and Localization. The demonstration of experimental results is as follows: demo

Preparation

Requirements:

Ubuntu 18.04 ROS melodic

Running this program requires ROS support. If it is not installed, please install ROS first.

Install dependencies:

sudo apt-get update

sudo apt install python-pip

sudo pip install --user numpy scipy matplotlib ipython jupyter pandas sympy nose

sudo easy_install -U statsmodels

sudo apt install libcholmod3.0.6 libcsparse3.1.4 libsuitesparse-dev python-cvxopt

sudo apt install ros-melodic-hector-trajectory-server

git clone https://github.com/RainerKuemmerle/g2o

Building

Clone the code and compile it as follows

mkdir  ~/catkin_ws/src
cd catkin_ws/src
git clone --recursive https://github.com/JasonSun623/SCAL.git 
cd ../
catkin_make
source devel/setup.bash

Datasets

#4_anchor.bag

Duration: 57.9s

We adopt a layout design consisting of four anchors and one tag to evaluate SCAL method in the laboratory.

#6_anchor.bag

Duration: 22:25s (1345s)

We adopt the layout design of six anchors and one tag to evaluate SCAL method in the parking lot.

Parking lot Topics:

• UWB raw measurements

  /nodeframe2_rostime : nlink_parser/LinktrackNodeframe2rostime

• IMU raw measurements

  /imu : sensor_msgs/Imu

• Wheel odometry raw measurements

  /odom : nav_msgs/Odometry

  Usage

Run

roslaunch nlink_parser linktrack.launch
rosrun nlink_example linktrack_example
roslauch localization localization_calibrate.launch
roslauch localization localization_bag_play.launch