uwv_kalman_filters

VelocityUKF

The focus of the VelocityUKF is to provide a model-aided linear and angular velocity estimate. Due to the model-aiding the velocities can be provided in a high frequency.

PoseUKF

The PoseUKF is a model aided inertial localization solution for autonomous underwater vehicles. As minimal input the filter relays on rotation rates and accelerations from an IMU and velocities from a DVL. Given force and torque measurements an AUV motion model aids the velocity estimate during DVL drop outs. ADCP measurements further aid the estimation in cases of DVL bottom-lock loss. Given gyroscopes capable of sensing the rotation of the earth (e.g. a fiber optic gyro) the filter is able to estimate it's true heading.

Install and compile

This C++ library uses cmake and can be compiled within ROCK, ROS or independently. The following instructions have been tested on Ubuntu 16.04 (Xenial).

Using ROCK

Make sure that the Ruby interpreter (recommended version 2.3) is installed on your machine.

Setup ROCK core bootstrap

mkdir rock
cd rock
wget http://www.rock-robotics.org/autoproj_bootstrap
ruby autoproj_bootstrap git [email protected]:rock-core/buildconf.git
source env.sh
autoproj update # All configurations can be answered with the default parameters besides of the Rock flavor. This must be set to master.

NOTE: Please select master as Rock flavor. All other parameters can be the defaults.

Checkout, build and install the library

amake slam/uwv_kalman_filters

Using ROS kinetic

Install ROS

wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-get update -qq
sudo apt-get install -y python-rosdep python-rosinstall python-vcstools
sudo rosdep init
rosdep update

Checkout repositories

Create directories

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/

Checkout repositories

wget https://raw.githubusercontent.com/rock-slam/slam-uwv_kalman_filters/ros_package_xml/.rosinstall
wstool update

Build and install

cd ..
source /opt/ros/kinetic/setup.bash
catkin init
catkin config --install --cmake-args -DBINDINGS_RUBY=OFF -DBUILD_SHARED_LIBS=ON
catkin build

NOTE: A ROS node is currently not available.

License

BSD 3-Clause License

Rock Standard Layout

This directory structure follows some simple rules, to allow for generic build processes and simplify reuse of this project. Following these rules ensures that the Rock CMake macros automatically handle the project's build process and install setup properly.

STRUCTURE
-- src/ 
	Contains all header (*.h/*.hpp) and source files
-- build/
	The target directory for the build process, temporary content
-- bindings/
	Language bindings for this package, e.g. put into subfolders such as
   |-- ruby/ 
        Ruby language bindings
-- viz/
        Source files for a vizkit plugin / widget related to this library 
-- resources/
	General resources such as images that are needed by the program
-- configuration/
	Configuration files for running the program
-- external/
	When including software that needs a non standard installation process, or one that can be
	easily embedded include the external software directly here
-- doc/
	should contain the existing doxygen file: doxygen.conf