Miscellaneus to-do list

[jlblancoc]

• XML includes feature
• docs + tutorial with 3D camera
• Jackal robot model
  • ros1 demo
  • ros2 demo
• Monocular camera sensor:
  • xml definition + docs
  • publish MRPT
  • publish ROS
• Stereo camera sensor:
  • xml definition + docs
  • publish MRPT
  • publish ROS
• RGBD sensor enhancement:
  • publish color point cloud to ROS
• 3D lidar sensor:
  • xml definition + docs
  • publish MRPT
  • publish ROS
• 3D terrain
  • Debug the flipped CMesh issue
  • Demo + video + docs?
• IMU
  • Add proper drift noise models

[adthoms]

@jlblancoc in mvsim/definitions/imu.sensor.xml, including noise on the random walk of the imu (similar to how hector_gazebo_plugins does via params accelDrift and rateDrift) would be a good feature to add for a future release. The revised params in imu.sensor.xml could be revised to:

<angular_velocity_white_noise_std_noise> ... </angular_velocity_white_noise_std_noise>
<linear_acceleration_white_noise_std_noise> ... </linear_acceleration_white_noise_std_noise>
<angular_velocity_random_walk_std_noise> ... </angular_velocity_random_walk_std_noise>
<linear_acceleration_random_walk__std_noise> ... </linear_acceleration_random_walk__std_noise>

Simulations can then represent the IMU model presented in:

@Article{forster2016manifold,
title={On-manifold preintegration for real-time visual--inertial odometry},
author={Forster, Christian and Carlone, Luca and Dellaert, Frank and Scaramuzza, Davide},
journal={IEEE Transactions on Robotics},
volume={33},
number={1},
pages={1--21},
year={2016},
publisher={IEEE}
}

[jlblancoc]

Thanks for the pointer @adthoms .

Sure, the current IMU is just a very basic type without realistic noise. I had the seminar paper in the radar for another project but didn't have at hand a reference plugin implementation, so it's welcome!

It will be even more useful when adding drones (future wish list...) ;-) (cc: @FranciscoJManasAlvarez )