Skip to content

feat(core): add imu propagator #85

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
dvorak0 merged 4 commits into from
Apr 28, 2026
Merged

feat(core): add imu propagator #85

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
046339e
feat(node): add imu propagator node
dvorak0 Apr 17, 2026
8b85ee0
feat(node): run imu propagator with perception
dvorak0 Apr 17, 2026
f4beff0
fix(node): restore PerceptionNode from main
dvorak0 Apr 17, 2026
755158a
save for working version
dvorak0 Apr 20, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
140 changes: 95 additions & 45 deletions docs/vis.rviz
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,23 +1,15 @@
Panels:
- Class: rviz_common/Displays
Help Height: 138
Help Height: 114
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Perception1/DepthCloud1/Auto Size1
- /Perception1/DepthCloud1/Occlusion Compensation1
- /Perception1/DepthCloud1/Autocompute Value Bounds1
- /Planning1/3DGridMap1
- /Perception1/Local Cloud1/Autocompute Value Bounds1
- /Planning1
- /Planning1/3DGridMap1/Autocompute Value Bounds1
- /Planning1/TrajScores1
- /Planning1/PointCloud21
- /Planning1/ObstacleMask1
- /Planning1/Footprint1
- /PointCloud21
- /Path1
Splitter Ratio: 0.5
Tree Height: 756
Tree Height: 114
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expand Down Expand Up @@ -62,17 +54,71 @@ Visualization Manager:
Frame Timeout: 10000
Frames:
All Enabled: true
cam_depth:
base_footprint:
Value: true
cam_left:
base_link:
Value: true
cam_rgb:
camera:
Value: true
cam_right:
camera_color_frame:
Value: true
camera_imu_optical_frame:
camera_color_optical_frame:
Value: true
imu:
camera_depth_frame:
Value: true
camera_depth_optical_frame:
Value: true
camera_imu_frame:
Value: true
camera_left_ir_frame:
Value: true
camera_left_ir_optical_frame:
Value: true
camera_link:
Value: true
camera_right_ir_frame:
Value: true
camera_right_ir_optical_frame:
Value: true
imu_link:
Value: true
lf_foot_link:
Value: true
lf_hip_link:
Value: true
lf_lower_leg_link:
Value: true
lf_upper_leg_link:
Value: true
lh_foot_link:
Value: true
lh_hip_link:
Value: true
lh_lower_leg_link:
Value: true
lh_upper_leg_link:
Value: true
map:
Value: true
odom:
Value: true
rf_foot_link:
Value: true
rf_hip_link:
Value: true
rf_lower_leg_link:
Value: true
rf_upper_leg_link:
Value: true
rh_foot_link:
Value: true
rh_hip_link:
Value: true
rh_lower_leg_link:
Value: true
rh_upper_leg_link:
Value: true
trunk:
Value: true
world:
Value: true
Expand All @@ -83,16 +129,7 @@ Visualization Manager:
Show Names: false
Tree:
world:
imu:
cam_left:
cam_depth:
{}
cam_rgb:
{}
cam_right:
{}
camera_imu_optical_frame:
{}
{}
Update Interval: 0
Value: true
- Class: rviz_common/Group
Expand Down Expand Up @@ -121,6 +158,7 @@ Visualization Manager:
Min Value: -3
Value: false
Axis: Z
CameraInfo Topic: /slam/camera_info
Channel Name: intensity
Class: rviz_default_plugins/DepthCloud
Color: 255; 255; 255
Expand Down Expand Up @@ -190,7 +228,7 @@ Visualization Manager:
Reliability Policy: Reliable
Value: /slam/odometry
Value: true
Enabled: true
Enabled: false
Name: Perception
- Class: rviz_common/Group
Displays:
Expand All @@ -209,9 +247,9 @@ Visualization Manager:
Enabled: true
Invert Rainbow: false
Max Color: 0; 255; 0
Max Intensity: 0.30000001192092896
Max Intensity: -0.30000001192092896
Min Color: 116; 0; 0
Min Intensity: -0.5
Min Intensity: -1
Name: 3DGridMap
Position Transformer: XYZ
Selectable: true
Expand All @@ -232,7 +270,7 @@ Visualization Manager:
Buffer Length: 1
Class: rviz_default_plugins/Path
Color: 25; 255; 0
Enabled: false
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Expand All @@ -255,7 +293,7 @@ Visualization Manager:
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/trajectory_path
Value: false
Value: true
- Angle Tolerance: 0.10000000149011612
Class: rviz_default_plugins/Odometry
Covariance:
Expand All @@ -273,7 +311,7 @@ Visualization Manager:
Scale: 1
Value: true
Value: true
Enabled: false
Enabled: true
Keep: 1
Name: TargetPose
Position Tolerance: 0.10000000149011612
Expand All @@ -294,7 +332,7 @@ Visualization Manager:
History Policy: Keep Last
Reliability Policy: Reliable
Value: /control/target_pose
Value: false
Value: true
- Alpha: 0.699999988079071
Class: rviz_default_plugins/Map
Color Scheme: map
Expand Down Expand Up @@ -400,12 +438,23 @@ Visualization Manager:
Use Timestamp: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud
Color: 255; 255; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: Footprint
Position Transformer: XYZ
Selectable: true
Expand All @@ -420,6 +469,7 @@ Visualization Manager:
Reliability Policy: Reliable
Value: /planning/footprint
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Name: Planning
Expand Down Expand Up @@ -573,7 +623,7 @@ Visualization Manager:
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: true
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Expand All @@ -594,7 +644,7 @@ Visualization Manager:
Value: /slam/global_cloud
Use Fixed Frame: true
Use rainbow: true
Value: true
Value: false
- Alpha: 1
Buffer Length: 1
Class: rviz_default_plugins/Path
Expand Down Expand Up @@ -669,7 +719,7 @@ Visualization Manager:
Views:
Current:
Class: rviz_default_plugins/ThirdPersonFollower
Distance: 10.385795593261719
Distance: 4.001773357391357
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Expand All @@ -684,22 +734,22 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.6347965598106384
Pitch: 1.289795994758606
Target Frame: camera
Value: ThirdPersonFollower (rviz_default_plugins)
Yaw: 0.05539698153734207
Yaw: 4.973613262176514
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1994
Height: 749
HeightMap:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 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
QMainWindow State: 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
Selection:
collapsed: false
Time:
Expand All @@ -710,9 +760,9 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
Width: 2331
X: 1419
Y: 64
Width: 1272
X: 1280
Y: 782
color image:
collapsed: false
gray image:
Expand Down
Loading
Loading