Gazebo: vision: Enable vision fusion in the vision variant of the simulation #23843
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dagar
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Oct 23, 2024
| param set-default EKF2_EV_DELAY 5 | ||
| param set-default EKF2_EV_CTRL 15 | ||
| param set-default EKF2_HGT_REF 3 | ||
| param set-default EKF2_GPS_CTRL 0 |
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From a testing perspective I wouldn't mind keeping both on by default, but I guess it depends what you're going for.
Suggested change
| param set-default EKF2_GPS_CTRL 0 | |
| param set-default EKF2_GPS_CTRL 1 |
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I feel this model is for testing a vision variant (aka vision only) as we rarely have GPS with vision, but I am fine leaving the GPS.
AlexisTM
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AlexisTM
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…ulation Enable vision fusion of vision data in the EKF2 for simulation
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Solved Problem
The vision simulation for Gazebo doesn't use vision but only GPS.
This prevents testing vision related bugs in simulation (bugs when only having a local position)
Solution
Changelog Entry
For release notes:
Context
To reproduce a bug in simulation that happens only when using vision/mocap/flow (without global position), the default parameters of the gz_x500_vision model would only use GPS. #23839