Feature/eskf landmark valve#666
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…ses msg imu/data_raw and /orca/pose as the dvl info
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idk Anders told me to
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Signed-off-by: Christopher Strøm <detoxte@gmail.com>
…, added local visual egomotion anchoring, reset VO anchor on measurement gaps, fuse VO as relative pose measurement'
…exntnu/vortex-auv into feature/eskf-landmark-valve
… from YAML. ESKF changes: anchor transform, velocity update from consecutive VO measurements, smart anchor reset, NIS rejections for VO, quaternion error using log map, measurement noise floors, tuned values
…truct, builds VoConf struct from params, vo_update to landmark_update, renamed several other variable names, fixed landmark callback to use LandmarkArray, removed unused params
…xplanatory, adjusted huber and gate weights for sliding window under movement
vortexuser
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Feb 11, 2026
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You messed up your commits so now it looks like you did everything baka
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| pos_floor: 0.05 | ||
| att_floor: 0.02 | ||
| vel_floor: 0.2 |
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TODO: Update aruco-detector to not only give out identity-matrix https://github.com/vortexntnu/vortex-aruco-detection/tree/main
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| # Sliding-window smoother | ||
| use_sw: true | ||
| window_size: 20 | ||
| max_age: 15.0 | ||
| huber_deg: 20.0 | ||
| gate_deg: 60.0 |
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TODO: Needs tuning way too high boss
| auto it = std::min_element(markers.begin(), markers.end(), | ||
| [](const auto* a, const auto* b) { return a->subtype < b->subtype; }); | ||
| const auto* chosen = *it; | ||
| uint16_t chosen_id = chosen->subtype; |
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| ament_export_targets(export_${LIB_NAME}) | ||
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| # --- THE FIX: INSTALL THE EXECUTABLE --- |
Removed commented section about installing the executable.
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Visual egomotion feature in ESKF
The current ESKF struggles with drift over time during the mission, especially when the DVL loses bottom lock when the AUV is pitched to look at the bottom valve with the front camera. This project aims to use landmark-based visual odometry as an additional measurement to be fused to the ESKF as 6-dof pose and derived velocity measurements alongside the IMU and DVL.
It works by placing an anchor on the first valid landmark detection and calculates the relative positioning, computing a transform from the VO frame to the navigation frame. All subsequent marker measurements are mapped through this anchor to produce position and orientation in the navigation frame. Velocity is derived from consecutive position measurements. NIS gating on both pose and velocity updates are based on chi-squared thresholds.
Features:
For testing:
colcon build --symlink-install --packages-select eskf aruco_detector source install/setup.bashIn one terminal run
and in another
together with the simulator and direct the AUV towards an ArUco-marker.
Test anchor reset on marker dropout, when the marker ID gets switched, and the performance during movement.
Note: Another important test would be to test the performance of the sliding window as the ESKF already acts as a filter for outliers