Run Test Using ROS
We created a ROS package to test the djh_ins package (www.ros.org/).
cd workspace/djh_ins/test_module
catkin_make --source workspace/djh_ins/test_module/test
source devel/setup.bash
Note that the "workspace'' is any directory in which the djh_ins package is placed.
roslaunch djh_ins_test test_set.launch
This simulation is meant to estimate the state of a rigid body after falling along the gravity vector for two seconds given an initial starting position at an origin, initial velocity of zero, and initial orientation of [0,0,0,1]. Integration is completed using fourth order Runge-Kutta. The IMU is assumed to have no errors. The output of this ROS node will be the estimated state after these two seconds of free fall.
The output then should look like the image below in the terminal:
