Apply velocity and acceleration limits to submitted configs #498
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Signed-off-by: Nate Koenig <nate@openrobotics.org>
angelacmaio
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azeey
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Aug 3, 2020
| We derived the stddev terms as follows: | ||
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| accelerometer noise density = 0.00002 g/sqrt(Hz) | ||
| => convert to m/s^2 => 1.962e-4 m/s^2 | ||
| gyro noise density = 0.005 deg/s/sqrt(Hz) | ||
| => convert to rad/sec => 8.72664e-5 radians | ||
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| Other terms are difficult to extract from datasheet, so we used similar terms to previous IMU models proposed (of similar or worse quality) such as the ADIS 16448 (which has worse performance than this IMU). | ||
| Other terms are difficult to extract from datasheet, so we used similar terms to previous IMU models proposed (of similar or worse quality) such as the ADIS 16448 (which has worse performance than this IMU). ~~ | ||
| - IMU model is standardized to match other available models. | ||
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| * \<Validation Video Link(s), e.g.,https://youtu.be/xxxxxxxxx/\> |
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Are these placeholders for Validation links still supposed to be here?
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Yes. We expect a later PR submitting the validation data and updating the MARBLE models' velocity, accel, and endurance limits to match.
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Aug 10, 2020
* add test links to specifications.md and modify parameters in spawn.rb * Model submission for the OZBOT ATR sensor configurations 1 and 2 from CSIRO_DATA61 * added thumbnail of vehicle * Model submission for Gagarin sensor configuration 1 from CERBERUS * fixed issues from PR feedback: drive plugin settings, gas sensor, joint state publisher, imu noise, lidar params and camera settings * add barometer to m100 * turning radius note and config2 power load fix * Edited README.md addressing comments Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com> * Apply velocity and acceleration limits to submitted configs (#498) * Limit velocity and acceleration on costar husky Signed-off-by: Nate Koenig <nate@openrobotics.org> * clarify limits in specifications.md * add limits to remaining submitted configs * remove diversion since data was provided Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Angela Maio <angela.c.maio.civ@mail.mil> Co-authored-by: Angela Maio <50143934+angelacmaio@users.noreply.github.com> * Restoring velocity controller for moving gimbals (#503) Signed-off-by: Carlos Aguero <caguero@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> * Changed plugin for Picoflexx from gpu_ray to depth_camera Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com> * Fix spawner Signed-off-by: Nate Koenig <nate@openrobotics.org> * Revert run Signed-off-by: Nate Koenig <nate@openrobotics.org> * Fix z offset, and cleanup Signed-off-by: Nate Koenig <nate@openrobotics.org> * Added marsupial capabilities Signed-off-by: Nate Koenig <nate@openrobotics.org> * Added Cerberus Gagarin Signed-off-by: Nate Koenig <nate@openrobotics.org> * Bridge gas topic Signed-off-by: Nate Koenig <nate@openrobotics.org> * Added Gagarin to X1 and R2 Signed-off-by: Nate Koenig <nate@openrobotics.org> * Ctu cras norlab absolem sensor config 1 2 (#528) * Added CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1 and CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_2 (which only differ by breadcrumbs). * Added thumbnails. * Fixed realsense, omnicam, lights and mass properties. * Changed order of elements in joint_states to correspond to the real robot. * Added plugin for automatic handling of laser rotation. * Fixed problem with loading robot_description. * Fixed IMU parameters. * Fixed collision when flipped. * WIP: Flipper control plugin. * Added position control for remaining flippers Signed-off-by: Nate Koenig <nate@openrobotics.org> * Fix realsense camera Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Martin Pecka <peckama2@fel.cvut.cz> Co-authored-by: Nate Koenig <nate@openrobotics.org> * Make Absolem turn Signed-off-by: Nate Koenig <nate@openrobotics.org> * Download new models Signed-off-by: Nate Koenig <nate@openrobotics.org> * Remove extra topics and joint states from Absolem model Signed-off-by: Nate Koenig <nate@openrobotics.org> * match API for RGBD * Fix position control Signed-off-by: Nate Koenig <nate@openrobotics.org> * Fix comment end Signed-off-by: Nate Koenig <nate@openrobotics.org> * Moved and realigned RGBD camera to not be obstructed by realsense mesh (#530) * Moved and realigned RGBD camera to not be obstructed by realsense mesh. * Adjust RGBD camera resolution to 640x480 to match other D435 sensors in the repository. * add barometer to model.sdf * match topic names to API * Adjustment of battery plugin on the CSIRO Data61 OZBOT ATR model to use generic X1 parameters tuned to 60 minutes of battery life until validation data is provided. * Record marsupial pairs (#531) * Record marsupial pairs Signed-off-by: Nate Koenig <nate@openrobotics.org> * Filter on performers Signed-off-by: Nate Koenig <nate@openrobotics.org> * Cleanup Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> * Monitor for dead battery events (#533) Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> * Added a few missing optical frames, and removed the extra rgbd parameters from cerberus_m100 (#525) Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> * Rotate marsupials (#536) * rotate marsupial children backwards for R2 and OZBOT * Added rotations to other launch files Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Angela Maio <angela.c.maio.civ@mail.mil> Co-authored-by: Nate Koenig <nate@openrobotics.org> * Fix marsupial joints (#535) Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> * Remove extra topics and joint states from Absolem model (#529) * Remove extra topics and joint states from Absolem model Signed-off-by: Nate Koenig <nate@openrobotics.org> * match API for RGBD * Fix position control Signed-off-by: Nate Koenig <nate@openrobotics.org> * Fix comment end Signed-off-by: Nate Koenig <nate@openrobotics.org> * rename omni topics * Fixed and added flipper velocity capacity for raw commanded velocities. * match gimbal cmd to API * match joint_state to API Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Angela Maio <angela.c.maio.civ@mail.mil> Co-authored-by: Arthur Schang <arthur.schang@parsons.com> * Apply effort limits to the Absolem model Signed-off-by: Nate Koenig <nate@openrobotics.org> * Fix horizondal typo Signed-off-by: Nate Koenig <nate@openrobotics.org> * Fix sensor name Signed-off-by: Nate Koenig <nate@openrobotics.org> * Proper tof_bottom rename Signed-off-by: Nate Koenig <nate@openrobotics.org> * Trying effort of 40 Signed-off-by: Nate Koenig <nate@openrobotics.org> * Trying a value of 30 Signed-off-by: Nate Koenig <nate@openrobotics.org> * effort=20 allows some obstacle traversal but no tiptoe driving * Extended GameLogicPlugin to check for vehicle flips (#519) * check for vehicle flips in GameLogicPlugin Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * using rotation matrix and dot product to check vehicle flip Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * cleaned up math for checking vehicle flips Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * moved check flip call outside of sensor portion in PostUpdate Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * added timeout to flip detection that handles false positives Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * Fix breadcrumb deployment location Signed-off-by: Nate Koenig <nate@openrobotics.org> * update absolem specs after fixes and breadcrumbs * update ozbot specs with breadcrumbs * Adjustment of the FoV parameter to match resolution. (#539) Co-authored-by: Hong <hongbiaz@andrew.cmu.edu> Co-authored-by: Tom Molnar <TJMolnar@github.com> Co-authored-by: Mihir Kulkarni <mihirk284@gmail.com> Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nkoenig@users.noreply.github.com> Co-authored-by: Carlos Agüero <caguero@osrfoundation.org> Co-authored-by: Martin Pecka <peckama2@fel.cvut.cz> Co-authored-by: acschang <61025344+acschang@users.noreply.github.com> Co-authored-by: Arthur Schang <arthur.schang@parsons.com> Co-authored-by: adlarkin <42042756+adlarkin@users.noreply.github.com>
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Match the limits that are in place on the other husky models.
Signed-off-by: Nate Koenig nate@openrobotics.org