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. Noise parameters can be configured in config/graph_params.yaml. There is also a ROS2 branch which is still under active development.
Glider can be built as a ros packages in your ros workspace with catkin build.
Run glider with:
roslaunch glider glider.launch
You can set the argument: use_sim_time:=true if you are using a bag file and use the --clock flag when starting your bag file.
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