Run Test Using ROS

We created a ROS package to test the djh_ins package (www.ros.org/).

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Installing ROS Package

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.

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Running ROS Package

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.