Commit 9b543bba authored by Nicolas Federico Furquez Morena's avatar Nicolas Federico Furquez Morena
Browse files

resultados de la ejecucion de las pruebas

parent 44af9b0d
......@@ -4,7 +4,7 @@
<!-- Output to screen -->
<!-- <node name="anchors_static_tf_publisher" pkg="localization_localino" type="anchors_static_tf_publisher.py" args="$(arg anchors_csv)" respawn="true" output="screen" /> -->
<!-- Output to log -->
<node name="anchors_static_tf_publisher" pkg="localization_localino" type="anchors_static_tf_publisher.py" args="/home/nico/Proyecto/RepoFinal/Investigacion/error_localizacion/posiciones1.csv" respawn="true" />
<node name="anchors_static_tf_publisher" pkg="localization_localino" type="anchors_static_tf_publisher.py" args="/home/nico/Proyecto/RepoFinal/Investigacion/pruebas.csv" respawn="true" />
<!-- Original -->
<!-- <node name="anchors" pkg="localization_localino" type="anchors_static_tf_publisher.py" args="/root/catkin_ws/src/localization_localino/scripts/anchors.csv" respawn="true"/> -->
......
<!-- lanch para ejecutar los 4 filtros a la vez y poder generar la data de la
diferencia entre la posicion calculada y la posicion estimada por el sistema -->
<launch>
<node name="reader_0" pkg="localization_localino" type="reader.py">
<rosparam>
......
<launch >
<!-- <include file="$(find localization_localino)/launch/run.launch"/> -->
<include file="$(find localization_localino)/launch/run_test.launch"/>
<!-- <include file="$(find localization_localino)/launch/run_test.launch"/> -->
<include file="$(find localization_localino)/launch/publish_anchors_tf.launch"/>
<node name="visualizar" pkg="rviz" type="rviz" respawn="true" args="-d $(find localization_localino)/rviz/nodos.rviz"/>
<!-- <node name="fixed_frame" pkg="localization_localino" type="fixed_frame.py" respawn="true" args="-d $(find localization_localino)/rviz/nodos.rviz"/> -->
......
<!-- launch para calcular el error en la disposicion de los tags -->
<launch>
<node name="reader_0" pkg="localization_localino" type="reader.py">
<rosparam>
#0 sin filtro, 1 Afa beta, 2 Kalman, 3 Promedio
filter: 0
kalmanr: 1.5
kalmanq: 1000
kalmandt: 0.3
kalmansv: 0.5
#offset, diferencia entre la medida real y la calculada default -18.5
offset: 0.0
alpha: 0.5
beta: 0.5
#cantidad de valores a recordar
filterma: 4
anchors_ids: {
#anchor1: 5,
anchor2: 10,
#anchor3: 1,
#anchor4: 16,
anchor5: 17,
#anchor6: 13,
anchor7: 2,
anchor8: 18,
#anchor9: 7,
#anchor10: 4,
#anchor11: 3,
#anchor12: 14,
#anchor13: 19,
}
anchor_pos: {
#anchor1: [3.276,5.405,1.207],
anchor2: [-3.688,2.904,1.749],
#anchor3: [0.869,9.077,1.649],
#anchor4: [3.083,-5.714,1.709],
anchor5: [-3.697,-3.163,1.725],
#anchor6: [3.282,1.457,1.594],
anchor7: [-3.692,8.882,1.624],
anchor8: [-3.701,-0.824,1.493],
#anchor9: [3.295,2.778,1.803],
#anchor10: [3.274,5.404,1.732],
#anchor11: [3.291,7.809,1.691],
#anchor12: [3.28,-0.577,1.731],
#anchor13: [-3.696,0.378,1.983],
}
#es la altura del tag, asumimos que el tag esta siempre a la misma altura
tagheight: 1.725
topic_debug: debug_position_0
debug: true
</rosparam>
</node>
<node name="position_processor_0" pkg="localization_localino" type="position-processor.py" output="screen">
<rosparam>
tag_real_pos: [0.091, 4.091, 1.725]
input_topic: debug_position_0
output_file: /home/nico/Proyecto/RepoFinal/Investigacion/diferencias_disposiciones/en_linea_filtro_0.csv
cant_medidas: 1000
</rosparam>
</node>
<node name="reader_1" pkg="localization_localino" type="reader.py">
<rosparam>
#0 sin filtro, 1 Afa beta, 2 Kalman, 3 Promedio
filter: 1
kalmanr: 1.5
kalmanq: 1000
kalmandt: 0.3
kalmansv: 0.5
#offset, diferencia entre la medida real y la calculada default -18.5
offset: 0.0
alpha: 0.5
beta: 0.5
#cantidad de valores a recordar
filterma: 4
anchors_ids: {
#anchor1: 5,
anchor2: 10,
#anchor3: 1,
#anchor4: 16,
anchor5: 17,
#anchor6: 13,
anchor7: 2,
anchor8: 18,
#anchor9: 7,
#anchor10: 4,
#anchor11: 3,
#anchor12: 14,
#anchor13: 19,
}
anchor_pos: {
#anchor1: [3.276,5.405,1.207],
anchor2: [-3.688,2.904,1.749],
#anchor3: [0.869,9.077,1.649],
#anchor4: [3.083,-5.714,1.709],
anchor5: [-3.697,-3.163,1.725],
#anchor6: [3.282,1.457,1.594],
anchor7: [-3.692,8.882,1.624],
anchor8: [-3.701,-0.824,1.493],
#anchor9: [3.295,2.778,1.803],
#anchor10: [3.274,5.404,1.732],
#anchor11: [3.291,7.809,1.691],
#anchor12: [3.28,-0.577,1.731],
#anchor13: [-3.696,0.378,1.983],
}
#es la altura del tag, asumimos que el tag esta siempre a la misma altura
tagheight: 1.725
topic_debug: debug_position_1
debug: true
</rosparam>
</node>
<node name="position_processor_1" pkg="localization_localino" type="position-processor.py" output="screen">
<rosparam>
tag_real_pos: [0.091, 4.091, 1.725]
input_topic: debug_position_1
output_file: /home/nico/Proyecto/RepoFinal/Investigacion/diferencias_disposiciones/en_linea_filtro_1.csv
cant_medidas: 1000
</rosparam>
</node>
<node name="reader_2" pkg="localization_localino" type="reader.py">
<rosparam>
#0 sin filtro, 1 Afa beta, 2 Kalman, 3 Promedio
filter: 2
kalmanr: 1.5
kalmanq: 1000
kalmandt: 0.3
kalmansv: 0.5
#offset, diferencia entre la medida real y la calculada default -18.5
offset: 0.0
alpha: 0.5
beta: 0.5
#cantidad de valores a recordar
filterma: 4
anchors_ids: {
#anchor1: 5,
anchor2: 10,
#anchor3: 1,
#anchor4: 16,
anchor5: 17,
#anchor6: 13,
anchor7: 2,
anchor8: 18,
#anchor9: 7,
#anchor10: 4,
#anchor11: 3,
#anchor12: 14,
#anchor13: 19,
}
anchor_pos: {
#anchor1: [3.276,5.405,1.207],
anchor2: [-3.688,2.904,1.749],
#anchor3: [0.869,9.077,1.649],
#anchor4: [3.083,-5.714,1.709],
anchor5: [-3.697,-3.163,1.725],
#anchor6: [3.282,1.457,1.594],
anchor7: [-3.692,8.882,1.624],
anchor8: [-3.701,-0.824,1.493],
#anchor9: [3.295,2.778,1.803],
#anchor10: [3.274,5.404,1.732],
#anchor11: [3.291,7.809,1.691],
#anchor12: [3.28,-0.577,1.731],
#anchor13: [-3.696,0.378,1.983],
}
#es la altura del tag, asumimos que el tag esta siempre a la misma altura
tagheight: 1.725
topic_debug: debug_position_2
debug: true
</rosparam>
</node>
<node name="position_processor_2" pkg="localization_localino" type="position-processor.py" output="screen">
<rosparam>
tag_real_pos: [0.091, 4.091, 1.725]
input_topic: debug_position_2
output_file: /home/nico/Proyecto/RepoFinal/Investigacion/diferencias_disposiciones/en_linea_filtro_2.csv
cant_medidas: 1000
</rosparam>
</node>
<node name="reader_3" pkg="localization_localino" type="reader.py">
<rosparam>
#0 sin filtro, 1 Afa beta, 2 Kalman, 3 Promedio
filter: 3
kalmanr: 1.5
kalmanq: 1000
kalmandt: 0.3
kalmansv: 0.5
#offset, diferencia entre la medida real y la calculada default -18.5
offset: 0.0
alpha: 0.5
beta: 0.5
#cantidad de valores a recordar
filterma: 4
anchors_ids: {
#anchor1: 5,
anchor2: 10,
#anchor3: 1,
#anchor4: 16,
anchor5: 17,
#anchor6: 13,
anchor7: 2,
anchor8: 18,
#anchor9: 7,
#anchor10: 4,
#anchor11: 3,
#anchor12: 14,
#anchor13: 19,
}
anchor_pos: {
#anchor1: [3.276,5.405,1.207],
anchor2: [-3.688,2.904,1.749],
#anchor3: [0.869,9.077,1.649],
#anchor4: [3.083,-5.714,1.709],
anchor5: [-3.697,-3.163,1.725],
#anchor6: [3.282,1.457,1.594],
anchor7: [-3.692,8.882,1.624],
anchor8: [-3.701,-0.824,1.493],
#anchor9: [3.295,2.778,1.803],
#anchor10: [3.274,5.404,1.732],
#anchor11: [3.291,7.809,1.691],
#anchor12: [3.28,-0.577,1.731],
#anchor13: [-3.696,0.378,1.983],
}
#es la altura del tag, asumimos que el tag esta siempre a la misma altura
tagheight: 1.725
topic_debug: debug_position_3
debug: true
</rosparam>
</node>
<node name="position_processor_3" pkg="localization_localino" type="position-processor.py" output="screen">
<rosparam>
tag_real_pos: [0.091, 4.091, 1.725]
input_topic: debug_position_3
output_file: /home/nico/Proyecto/RepoFinal/Investigacion/diferencias_disposiciones/en_linea_filtro_3.csv
cant_medidas: 1000
</rosparam>
</node>
<node name="stop" required="true" pkg="localization_localino" type="stop_launch.py" output="screen">
<rosparam>
cant_procesos: 4
</rosparam>
</node>
<arg name="carpeta" value="/home/nico/Proyecto/RepoFinal/Investigacion/bags_distancias/" />
<node pkg="rosbag" type="play" name="player13" output="screen" args="--wait-for-subscribers -q --clock $(arg carpeta)/pto_10.bag"/>
<node pkg="rosbag" type="play" name="player16" output="screen" args="--wait-for-subscribers -q --clock $(arg carpeta)/pto_17.bag"/>
<node pkg="rosbag" type="play" name="player17" output="screen" args="--wait-for-subscribers -q --clock $(arg carpeta)/pto_2.bag"/>
<node pkg="rosbag" type="play" name="player18" output="screen" args="--wait-for-subscribers -q --clock $(arg carpeta)/pto_18.bag"/>
</launch>
<!-- launch para calcular el error en la disposicion de los tags -->
<launch>
<node name="reader_0" pkg="localization_localino" type="reader.py">
<rosparam>
#0 sin filtro, 1 Afa beta, 2 Kalman, 3 Promedio
filter: 0
kalmanr: 1.5
kalmanq: 1000
kalmandt: 0.3
kalmansv: 0.5
#offset, diferencia entre la medida real y la calculada default -18.5
offset: 0.0
alpha: 0.5
beta: 0.5
#cantidad de valores a recordar
filterma: 4
anchors_ids: {
#anchor1: 5,
#anchor2: 10,
anchor3: 1,
#anchor4: 16,
#anchor5: 17,
#anchor6: 13,
anchor7: 2,
#anchor3: 18,
#anchor9: 7,
#anchor10: 4,
anchor11: 3,
#anchor12: 14,
#anchor13: 19,
}
anchor_pos: {
#anchor1: [3.276,5.405,1.207],
#anchor2: [-3.688,2.904,1.749],
anchor3: [0.869,9.077,1.649],
#anchor4: [3.083,-5.714,1.709],
#anchor5: [-3.697,-3.163,1.725],
#anchor6: [3.282,1.457,1.594],
anchor7: [-3.692,8.882,1.624],
#anchor3: [-3.701,-0.824,1.493],
#anchor9: [3.295,2.778,1.803],
#anchor10: [3.274,5.404,1.732],
anchor11: [3.291,7.809,1.691],
#anchor12: [3.28,-0.577,1.731],
#anchor13: [-3.696,0.378,1.983],
}
#es la altura del tag, asumimos que el tag esta siempre a la misma altura
tagheight: 1.725
topic_debug: debug_position_0
debug: true
</rosparam>
</node>
<node name="position_processor_0" pkg="localization_localino" type="position-processor.py" output="screen">
<rosparam>
tag_real_pos: [0.091, 4.091, 1.725]
input_topic: debug_position_0
output_file: /home/nico/Proyecto/RepoFinal/Investigacion/efecto_multipath/con_multipath_filtro_0.csv
cant_medidas: 1000
</rosparam>
</node>
<node name="reader_1" pkg="localization_localino" type="reader.py">
<rosparam>
#0 sin filtro, 1 Afa beta, 2 Kalman, 3 Promedio
filter: 1
kalmanr: 1.5
kalmanq: 1000
kalmandt: 0.3
kalmansv: 0.5
#offset, diferencia entre la medida real y la calculada default -18.5
offset: 0.0
alpha: 0.5
beta: 0.5
#cantidad de valores a recordar
filterma: 4
anchors_ids: {
#anchor1: 5,
#anchor2: 10,
anchor3: 1,
#anchor4: 16,
#anchor5: 17,
#anchor6: 13,
anchor7: 2,
#anchor3: 18,
#anchor9: 7,
#anchor10: 4,
anchor11: 3,
#anchor12: 14,
#anchor13: 19,
}
anchor_pos: {
#anchor1: [3.276,5.405,1.207],
#anchor2: [-3.688,2.904,1.749],
anchor3: [0.869,9.077,1.649],
#anchor4: [3.083,-5.714,1.709],
#anchor5: [-3.697,-3.163,1.725],
#anchor6: [3.282,1.457,1.594],
anchor7: [-3.692,8.882,1.624],
#anchor3: [-3.701,-0.824,1.493],
#anchor9: [3.295,2.778,1.803],
#anchor10: [3.274,5.404,1.732],
anchor11: [3.291,7.809,1.691],
#anchor12: [3.28,-0.577,1.731],
#anchor13: [-3.696,0.378,1.983],
}
#es la altura del tag, asumimos que el tag esta siempre a la misma altura
tagheight: 1.725
topic_debug: debug_position_1
debug: true
</rosparam>
</node>
<node name="position_processor_1" pkg="localization_localino" type="position-processor.py" output="screen">
<rosparam>
tag_real_pos: [0.091, 4.091, 1.725]
input_topic: debug_position_1
output_file: /home/nico/Proyecto/RepoFinal/Investigacion/efecto_multipath/con_multipath_filtro_1.csv
cant_medidas: 1000
</rosparam>
</node>
<node name="reader_2" pkg="localization_localino" type="reader.py">
<rosparam>
#0 sin filtro, 1 Afa beta, 2 Kalman, 3 Promedio
filter: 2
kalmanr: 1.5
kalmanq: 1000
kalmandt: 0.3
kalmansv: 0.5
#offset, diferencia entre la medida real y la calculada default -18.5
offset: 0.0
alpha: 0.5
beta: 0.5
#cantidad de valores a recordar
filterma: 4
anchors_ids: {
#anchor1: 5,
#anchor2: 10,
anchor3: 1,
#anchor4: 16,
#anchor5: 17,
#anchor6: 13,
anchor7: 2,
#anchor3: 18,
#anchor9: 7,
#anchor10: 4,
anchor11: 3,
#anchor12: 14,
#anchor13: 19,
}
anchor_pos: {
#anchor1: [3.276,5.405,1.207],
#anchor2: [-3.688,2.904,1.749],
anchor3: [0.869,9.077,1.649],
#anchor4: [3.083,-5.714,1.709],
#anchor5: [-3.697,-3.163,1.725],
#anchor6: [3.282,1.457,1.594],
anchor7: [-3.692,8.882,1.624],
#anchor3: [-3.701,-0.824,1.493],
#anchor9: [3.295,2.778,1.803],
#anchor10: [3.274,5.404,1.732],
anchor11: [3.291,7.809,1.691],
#anchor12: [3.28,-0.577,1.731],
#anchor13: [-3.696,0.378,1.983],
}
#es la altura del tag, asumimos que el tag esta siempre a la misma altura
tagheight: 1.725
topic_debug: debug_position_2
debug: true
</rosparam>
</node>
<node name="position_processor_2" pkg="localization_localino" type="position-processor.py" output="screen">
<rosparam>
tag_real_pos: [0.091, 4.091, 1.725]
input_topic: debug_position_2
output_file: /home/nico/Proyecto/RepoFinal/Investigacion/efecto_multipath/con_multipath_filtro_2.csv
cant_medidas: 1000
</rosparam>
</node>
<node name="reader_3" pkg="localization_localino" type="reader.py">
<rosparam>
#0 sin filtro, 1 Afa beta, 2 Kalman, 3 Promedio
filter: 3
kalmanr: 1.5
kalmanq: 1000
kalmandt: 0.3
kalmansv: 0.5
#offset, diferencia entre la medida real y la calculada default -18.5
offset: 0.0
alpha: 0.5
beta: 0.5
#cantidad de valores a recordar
filterma: 4
anchors_ids: {
#anchor1: 5,
#anchor2: 10,
anchor3: 1,
#anchor4: 16,
#anchor5: 17,
#anchor6: 13,
anchor7: 2,
#anchor3: 18,
#anchor9: 7,
#anchor10: 4,
anchor11: 3,
#anchor12: 14,
#anchor13: 19,
}
anchor_pos: {
#anchor1: [3.276,5.405,1.207],
#anchor2: [-3.688,2.904,1.749],
anchor3: [0.869,9.077,1.649],
#anchor4: [3.083,-5.714,1.709],
#anchor5: [-3.697,-3.163,1.725],
#anchor6: [3.282,1.457,1.594],
anchor7: [-3.692,8.882,1.624],
#anchor3: [-3.701,-0.824,1.493],
#anchor9: [3.295,2.778,1.803],
#anchor10: [3.274,5.404,1.732],
anchor11: [3.291,7.809,1.691],
#anchor12: [3.28,-0.577,1.731],
#anchor13: [-3.696,0.378,1.983],
}
#es la altura del tag, asumimos que el tag esta siempre a la misma altura
tagheight: 1.725
topic_debug: debug_position_3
debug: true
</rosparam>
</node>
<node name="position_processor_3" pkg="localization_localino" type="position-processor.py" output="screen">
<rosparam>
tag_real_pos: [0.091, 4.091, 1.725]
input_topic: debug_position_3
output_file: /home/nico/Proyecto/RepoFinal/Investigacion/efecto_multipath/con_multipath_filtro_3.csv
cant_medidas: 1000
</rosparam>
</node>
<node name="stop" required="true" pkg="localization_localino" type="stop_launch.py" output="screen">
<rosparam>
cant_procesos: 4
</rosparam>
</node>
<arg name="carpeta" value="/home/nico/Proyecto/RepoFinal/Investigacion/bags_distancias/" />
<node pkg="rosbag" type="play" name="player13" output="screen" args="--wait-for-subscribers -q --clock $(arg carpeta)/rebote.bag"/>
</launch>
......@@ -27,7 +27,7 @@ ptos obstruidos por una madera de 2.0 m de alto, 0.60 m de ancho y 18 mm
de espesor a 2 m del anchor en direccion al tag,
nombre de los bags pto_X_O.bag ptos 1 , 2, 3, 14, 18
bad de rebote, tablon a 1m del tag,
bag de rebote, tablon a 1m del tag,
puntos 1, 2 ,3, nombre, rebote.bag
se tomaron 4000 msg
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