- https://github.com/davisking/dlib.git (clone to home directory)
cd ~/catkin_ws/srcgit clone https://github.com/AmyPhung/min_variance_calibrationcd ~/catkin_ws/rosdep install -iry --from-paths srccatkin build
- Requires properly formatted initial params yaml file, bag containing calibration data & robot_description
rosrun min_variance_calibration RunCalibrationServerrosrun min_variance_calibration calibration_bridge.py
rosrun tf view_frameskillall -9 rvizkillall -9 roscorekillall -9 rosmasterrosmsg show PointLabeled- known bug: when ROS time jumps backwards (i.e. when the bag restarts), the tfs don't like that - when this happens, just close everything and re-run
- To debug docker build
sudo docker ps -asudo docker commit 6934ada98de6(change number based on ps -a output)sudo docker run -it 7015687976a4 bash -il(change number based on commit output)source /opt/ros/melodic/setup.bash(needed to run catkin_make)- after navigating to correct directory
catkin_make Ctrl + dto logout
- Document launch files, scripts
- Add node args
- Add args for sim time/make sure it works realtime
- create shared functions
- synchronize calibration data collection
- create launch files
- document data formats
- somehow determine effect of encoder noise
- Add back in fisheye tf
- add orientation as calibration data
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