Glider is a GPS-Odometry-INS system, it is designed to fuse GPS and IMU (a GINS system) with any odometry you provide. This can also be run as a standard GINS system by setting use_odom:=false. We can also take in unscaled odometry and scale it, just set scale_odom parameter to true if you want your odmetry scaled. Finally, noise parameters can be configured in config/graph_params.yaml.
You can build this as a ros2 package with colcon: colcon build --packages-select glider.
Glider can be built as a ros packages in your ros workspace with catkin build.
Run glider with:
ros2 launch glider glider-node.launch.py
Everything will be rotated into the ENU frame, includeing the IMU orientation and the Odometry pose. Since GPS is the main prior, we publish state estimates in the ENU frame with UTM coordinates as an Odometry ros message or a NavSatFix message. This can be configured in config/ros_params.yaml with the publish_nav_sat_fix parameter.
We use GTest to run unit tests. You can build the tests with
cmake -S . -B build
cmake --build build
and run with:
cd build
ctest
- Corresponding: Jason Hughes jasonah.at.seas.upenn.edu
- Varun Murali