Page Comparison

...

Code Block

// Sensor fusion config
"vehicularFusion": {
    "echoFusedPose": false,
    "endpoint": "tcp://*:8801",
    "fuser": {
        "fitModel": "SimpleCarModel",
        "driveModel": "Differential",
        "velError": 0.277777778,
        "omegaError": 0.5,
        "measurementError": 0.1,
        "smoothFit": true,
        "useImuTurnRate": true,
        "imuTurnRateAxis": {
            "x": 1,
            "y": 0,
            "z": 0
        }
    }
}

Parameter name	Description	Default
echoFusedPose	fusedVehiclePose output is printed to command line	false
endpoint	Output port for the fusion result	8801
fitModel	Model to use for fusion. At the moment only `SimpleCarModel` is supported.	SimpleCarModel
driveModel	Model used to calculate the car trajectory from CAN bus data. At the moment only `Differential` is supportedIf the steering wheel data and steering model are provided, `Ackermann` model can be used.	Differential
velError	Velocity error for Kalman filter. Keep default value.	0.277777778
omegaError	Omega error for Kalman filter. Keep default value.	0.5
measurementError	Measurement error for Kalman filter. Keep default value.	0.1
smoothFit	Enable this option to prevent filter output from jumping between odometry data and GPS measurement. Keep enabled.	true
useImuTurnRate	If enabled the IMU turn rate is used instead of the wheel velocity based turn rate. Recommended.	false
imuTurnRateAxis	The IMU axis to use for the Turn rate if `useImuTurnRate` is enabled.	1, 0, 0

This filter needs as input:

...

Parameter name	Description	Default
echoFusedPose	`fusedVehiclePose` output is printed to command line	false
endpoint	Output port for the fusion result	8801
fitModel	Model to use for fusion. At the moment only `SimpleCarModel` is supported.	SimpleCarModel	accelError	Model used to calculate car trajectory from CAN bus data. At the moment only `Differential` is supported.	Differential	ModelGnssImu
accelError	Acceleration error for Kalman filter. Keep default value.	0.01
omegaError	Omega error for Kalman filter. Keep default value.	0.502
measurementError	Measurement error for Kalman filter. Keep default value.	0.105
imuToCarRotation	Orientation quaternion of IMU relative to car frame	1, 0, 0, 0

...


smoothFit	Enable this option to prevent filter output from jumping between IMU data and GPS measurement. Keep enabled.	true

This filter needs as input:

LPMS-IG1P data source for IMU and GPS data

...

Playback and fusion of prerecorded data: gpsImuFusionPlayback.json

Data Playback [DEPRECATED, switch over to Replay Node]

Data from a log file can played back and forwarded to a fusion filter using the fileReader block. An example of how to use this node we are showing below:

...

Parameter name	Description	Unit
filename	Name of the file to be played back	n/a
playbackInterval	Time interval between each line of the playback file	s

Replay Node

Replay data from disk file.

Code Block
"sources": { "replay": { "filename": "./MiniRide10.json", "replaySpeed": 1, // replay speed is adjustable "readMultipleLines": 10 // disk reader would read in multiple lines every time. } }

Key	Description	Type	Example value
filepath	Path to read in file	String	“log.json”
replaySpeed	Speed to the actual recording	Double	1
readMultipleLines	Number of lines to read each time	Integer	10

Graphical User Interface

Map View

...

to the sink section of config.json.

Data Playback