Added graphs

added graphs and topics to analyse filter behaviour in realtime
AUVSL · Aug 6, 2020 · 90b63e8 · 90b63e8
1 parent c532f7a
commit 90b63e8
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Showing 5 changed files with 792 additions and 65 deletions.
diff --git a/models/husky_uwb.urdf.xacro b/models/husky_uwb.urdf.xacro
@@ -177,12 +177,12 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
       <updateRate>100.0</updateRate>
       <bodyName>base_link</bodyName>
       <topicName>imu/data</topicName>
-      <accelOffset>0.1 0.1 0.1</accelOffset>
+      <accelOffset>0.1 0.07 0.12</accelOffset>
       <accelGaussianNoise>0.06 0.06 0.06</accelGaussianNoise>
       <rateDrift>0.0 0.0 0.0 </rateDrift>
-      <rateGaussianNoise>0.0 0.0 0.0 </rateGaussianNoise>
-      <headingDrift>0.000</headingDrift>
-      <headingGaussianNoise>0.000</headingGaussianNoise>
+      <rateGaussianNoise>0.0 0.0 0.1 </rateGaussianNoise>
+      <headingDrift>0.00</headingDrift>
+      <headingGaussianNoise>0.00</headingGaussianNoise>
     </plugin>
   </gazebo>