Doppler radar + gyro integration changes #232
Merged
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…ewhere (like in wrapper).
…in a wrapper) yaml variables for pipeline.
… measurements for direct velocity errors
… setup. Implemented prior error from past trajectory/covariance for odometry.
… measurement factor (outdated with new gyro implementations).
…valuator. Useful when you want to rely entirely on a gyroscope or some other highly accurate source of orientation info. - Changed gyroscope error term to make use of all 3 degrees of info from gyro - (QoL) minor print statement improvements
(func) added gyroscope terms if qdata.gyro_msgs is populated (func) added removal of orientation estimation from ICP
…-based sliding window prior for future windows.
…al pointcloud timestamp due to rounding error. Now explicitly adding the final pointcloud timestamp as the final knot_time.
…d new prior_bloat parameter
8000
Tested on warthog but not extensively. Also fixed a bug with timestamps for the ouster point clouds.
(Bug) Removed prior bloat, as its implementation was mathematically faulty. (Func) Added naming variables and cost terms in the radar pipeline to help with debugging. (Func) Added Doppler velocity error terms to the radar pipeline (doesn't work fully yet).
…muth and ego-vel estimates. (Func) Added direct Doppler odometry module (just file set up for now, not working).
…supports lgmath building using ros2 by default.
…is is being replaced by proper Doppler velocity support.
…ndows. (QoL) Changed radar gyro cost term to take in full 3D measurement, with roll/pitch being set to 0 with low cov. This helps stability, but we really need to move to full SE2 estimation for radar.
Fixed frame bug
a-krawciw
approved these changes
May 15, 2025
main/src/vtr_radar/src/modules/odometry/odometry_icp_module.cpp
Outdated
Show resolved
Hide resolved
main/src/vtr_radar/src/modules/odometry/odometry_icp_module.cpp
Outdated
Show resolved
Hide resolved
main/src/vtr_radar/src/modules/odometry/odometry_icp_module.cpp
Outdated
Show resolved
Hide resolved
desifisker
added a commit
that referenced
this pull request
May 29, 2025
…_module.cpp and navigator.cpp" This reverts commit 45f7fe6.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Tested radar and lidar offline: