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Add constraint on the integral of odometry error #99

Merged
merged 5 commits into from
Feb 7, 2018
Merged

Add constraint on the integral of odometry error #99

merged 5 commits into from
Feb 7, 2018

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at-wat
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@at-wat at-wat commented Feb 5, 2018

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@at-wat at-wat added the WIP label Feb 5, 2018
@at-wat at-wat self-assigned this Feb 5, 2018
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at-wat commented Feb 5, 2018

PASSED on kinetic

All tests passed

Skipping "src/mcl_3dl/package.xml": 'tests'
build/test_results/mcl_3dl/gtest-test_filter.xml: 3 tests
build/test_results/mcl_3dl/gtest-test_nd.xml: 1 tests
build/test_results/mcl_3dl/gtest-test_pf.xml: 2 tests
build/test_results/mcl_3dl/gtest-test_quat.xml: 4 tests
build/test_results/mcl_3dl/gtest-test_vec3.xml: 5 tests
build/test_results/mcl_3dl/roslint-mcl_3dl.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_localization_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_tf_rostest.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_pose.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_tf.xml: 1 tests
Summary: 20 tests, 0 errors, 0 failures, 0 skipped

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at-wat commented Feb 5, 2018

PASSED on indigo

All tests passed

Skipping "src/mcl_3dl/package.xml": 'tests'
build/test_results/mcl_3dl/gtest-test_filter.xml: 3 tests
build/test_results/mcl_3dl/gtest-test_nd.xml: 1 tests
build/test_results/mcl_3dl/gtest-test_pf.xml: 2 tests
build/test_results/mcl_3dl/gtest-test_quat.xml: 4 tests
build/test_results/mcl_3dl/gtest-test_vec3.xml: 5 tests
build/test_results/mcl_3dl/roslint-mcl_3dl.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_localization_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_tf_rostest.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_pose.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_tf.xml: 1 tests
Summary: 20 tests, 0 errors, 0 failures, 0 skipped

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at-wat commented Feb 6, 2018

PASSED on kinetic

All tests passed

Skipping "src/mcl_3dl/package.xml": 'tests'
build/test_results/mcl_3dl/gtest-test_filter.xml: 3 tests
build/test_results/mcl_3dl/gtest-test_nd.xml: 1 tests
build/test_results/mcl_3dl/gtest-test_pf.xml: 2 tests
build/test_results/mcl_3dl/gtest-test_quat.xml: 4 tests
build/test_results/mcl_3dl/gtest-test_vec3.xml: 5 tests
build/test_results/mcl_3dl/roslint-mcl_3dl.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_localization_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_tf_rostest.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_pose.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_tf.xml: 1 tests
Summary: 20 tests, 0 errors, 0 failures, 0 skipped

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at-wat commented Feb 6, 2018

PASSED on indigo

All tests passed

Skipping "src/mcl_3dl/package.xml": 'tests'
build/test_results/mcl_3dl/gtest-test_filter.xml: 3 tests
build/test_results/mcl_3dl/gtest-test_nd.xml: 1 tests
build/test_results/mcl_3dl/gtest-test_pf.xml: 2 tests
build/test_results/mcl_3dl/gtest-test_quat.xml: 4 tests
build/test_results/mcl_3dl/gtest-test_vec3.xml: 5 tests
build/test_results/mcl_3dl/roslint-mcl_3dl.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_localization_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_tf_rostest.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_pose.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_tf.xml: 1 tests
Summary: 20 tests, 0 errors, 0 failures, 0 skipped

@at-wat at-wat removed the WIP label Feb 6, 2018
at-wat
at-wat commented Feb 6, 2018
View reviewed changes
src/mcl_3dl.cpp Outdated
@@ -1356,6 +1351,9 @@ class MCL3dlNode
nh.param("odom_err_ang_lin", params_.odom_err_ang_lin, 0.05);
nh.param("odom_err_ang_ang", params_.odom_err_ang_ang, 0.05);

nh.param("odom_err_integ_tc", params_.odom_err_integ_tc, 10.0);
nh.param("odom_err_integ_sigma", params_.odom_err_integ_sigma, 3.0);
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loosen it for default value

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at-wat commented Feb 6, 2018

  • odom_err_integ_tc: time constant to forget the integral of the odometry error
  • odom_err_integ_sigma: acceptable range of the integral of the odometry error

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at-wat commented Feb 6, 2018

PASSED on kinetic

All tests passed

Skipping "src/mcl_3dl/package.xml": 'tests'
build/test_results/mcl_3dl/gtest-test_filter.xml: 3 tests
build/test_results/mcl_3dl/gtest-test_nd.xml: 1 tests
build/test_results/mcl_3dl/gtest-test_pf.xml: 2 tests
build/test_results/mcl_3dl/gtest-test_quat.xml: 4 tests
build/test_results/mcl_3dl/gtest-test_vec3.xml: 5 tests
build/test_results/mcl_3dl/roslint-mcl_3dl.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_localization_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_tf_rostest.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_pose.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_tf.xml: 1 tests
Summary: 20 tests, 0 errors, 0 failures, 0 skipped

@at-wat
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at-wat commented Feb 6, 2018

PASSED on indigo

All tests passed

Skipping "src/mcl_3dl/package.xml": 'tests'
build/test_results/mcl_3dl/gtest-test_filter.xml: 3 tests
build/test_results/mcl_3dl/gtest-test_nd.xml: 1 tests
build/test_results/mcl_3dl/gtest-test_pf.xml: 2 tests
build/test_results/mcl_3dl/gtest-test_quat.xml: 4 tests
build/test_results/mcl_3dl/gtest-test_vec3.xml: 5 tests
build/test_results/mcl_3dl/roslint-mcl_3dl.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_localization_rostest.xml: 1 tests
build/test_results/mcl_3dl/rostest-test_tests_tf_rostest.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_pose.xml: 1 tests
build/test_results/mcl_3dl/rosunit-compare_tf.xml: 1 tests
Summary: 20 tests, 0 errors, 0 failures, 0 skipped

@at-wat at-wat merged commit ec5f72f into master Feb 7, 2018
@at-wat at-wat deleted the add-odom-error-integ-constraint branch February 7, 2018 07:17
@at-wat at-wat mentioned this pull request Feb 26, 2018
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@at-wat at-wat mentioned this pull request Mar 6, 2018
Merged
@at-wat at-wat mentioned this pull request Jan 10, 2020
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