def __init__(self, name):
rospy.loginfo('Create ' + name + ' Sensor')
self.dt = 1.0 / rospy.get_param(name + '/rate', 100.0)
self.rate = rospy.Rate(rospy.get_param(name + '/rate', 100.0))
rospy.loginfo("\ta.rate: %.1f Hz", 1.0 / self.dt)
self.cp = np.array(rospy.get_param(name + '/CP',
[0.0, 0.0, 0.0])).reshape(3, 1)
rospy.loginfo("\tb.position: [%.2f,%.2f,%.2f]", self.cp[0], self.cp[1],
self.cp[2])
self.precision = rospy.get_param(name + '/precision', 0.0001)
rospy.loginfo("\tc.precision: %.1e g", self.precision)
self.std_coeff = rospy.get_param(name + '/std_coeff', 0.1)
rospy.loginfo("\td.noise coeff: %.3f", self.std_coeff)
#Noise Characteristics
self.bs = np.random.normal(
0,
rospy.get_param(name + '/scaleBias', 0.03) / 3, 3)
self.ks = np.random.normal(
0,
rospy.get_param(name + '/scaleThermal', 0.002) / 3, 3)
self.bias = Vector3()
self.randomwalk = Vector3()
self.scale = Vector3()
self.measurement = SimSensor3()
self.temp = 25.0
self.pub = rospy.Publisher(name, SimSensor3)
self.states_sub = rospy.Subscriber("states", SimStates,
self.StatesCallback)
self.atm_sub = rospy.Subscriber("environment", Environment,
self.EnvironmentCallback)
self.real = SimStates()
self.realnew = False
#Thermal Chracteristics
self.thermalMass = ThermalRise(name)
rospy.loginfo("\te.Loading Thermal Chracteristics")
self.airspeed = 0.0
def __init__(self, name):
rospy.loginfo('Create ' + name + ' Sensor')
self.dt = 1.0 / rospy.get_param(name + '/rate', 100.0)
self.rate = rospy.Rate(rospy.get_param(name + '/rate', 100.0))
rospy.loginfo("\ta.rate: %.1f Hz", 1.0 / self.dt)
self.cp = np.array(rospy.get_param(name + '/CP',
[0.0, 0.0, 0.0])).reshape(3, 1)
rospy.loginfo("\tb.position: [%.2f,%.2f,%.2f]", self.cp[0], self.cp[1],
self.cp[2])
self.resolution = rospy.get_param(name + '/resolution', 0.001)
rospy.loginfo("\tc.resolution: %.1e mbar", self.resolution)
self.maxvalue = rospy.get_param(name + '/max', 1500.0)
rospy.loginfo("\td.maxvalue: %.4f mbar", self.maxvalue)
self.minvalue = rospy.get_param(name + '/min', 0.0)
rospy.loginfo("\te.minvalue: %.4f mbar", self.minvalue)
self.std_coeff = rospy.get_param(name + '/std_coeff', 0.1)
rospy.loginfo("\tf.noise coeff: %.3f", self.std_coeff)
self.bar_true = 1013.25
self.temp = 25.0
self.pub = rospy.Publisher(name, SimBarometer)
self.states_sub = rospy.Subscriber("states", SimStates,
self.StatesCallback)
self.atm_sub = rospy.Subscriber("environment", Environment,
self.EnvironmentCallback)
self.measurement = SimBarometer()
self.realnew = False
#Thermal Chracteristics
self.thermalMass = ThermalRise(name)
rospy.loginfo("\tg.Loading Thermal Chracteristics")
self.airspeed = 0.0
self.temp = 25.0
def __init__(self, name):
rospy.loginfo('Create ' + name + ' Sensor')
self.dt = 1.0 / rospy.get_param(name + '/rate', 100.0)
self.rate = rospy.Rate(rospy.get_param(name + '/rate', 100.0))
rospy.loginfo("\ta.rate: %.1f Hz", 1.0 / self.dt)
self.cp = np.array(rospy.get_param(name + '/CP',
[0.0, 0.0, 0.0])).reshape(3, 1)
rospy.loginfo("\tb.position: [%.2f,%.2f,%.2f]", self.cp[0], self.cp[1],
self.cp[2])
self.resolution = rospy.get_param(name + '/resolution', 0.0001)
rospy.loginfo("\tc.resolution: %.1e g", self.resolution)
self.maxvalue = rospy.get_param(name + '/max', 16.0)
rospy.loginfo("\td.maxvalue: %.2f g", self.maxvalue)
self.std_coeff = rospy.get_param(name + '/std_coeff', [0.0, 0.0, 0.0])
rospy.loginfo("\te.noise coeff:")
rospy.loginfo("\t\t1.main std: %.3f", self.std_coeff[0])
rospy.loginfo("\t\t2.bias coeff: %.3f", self.std_coeff[1])
rospy.loginfo("\t\t3.random walk coeff: %.3f", self.std_coeff[2])
#Noise Characteristics
self.bs = np.random.normal(
0,
rospy.get_param(name + '/scaleBias', 0.03) / 3, 3)
self.ks = np.random.normal(
0,
rospy.get_param(name + '/scaleThermal', 0.002) / 3, 3)
self.bb = np.random.normal(
0,
rospy.get_param(name + '/offsetBias', 0.785) / 3, 3)
self.kb = np.random.normal(
0,
rospy.get_param(name + '/offsetThermal', 0.0084) / 3, 3)
self.p0 = rospy.get_param(name + '/RWPSD', 0.00392)
self.bias = Vector3()
self.randomwalk = Vector3()
self.scale = Vector3()
self.temp = 25.0
self.grav = 9.807
#Thermal Chracteristics
self.thermalMass = ThermalRise(name)
rospy.loginfo("\tf.Loading Thermal Chracteristics")
self.airspeed = 0.0
self.measurement = SimSensor3()
self.pub = rospy.Publisher(name, SimSensor3)
self.states_sub = rospy.Subscriber("states", SimStates,
self.StatesCallback)
self.env_sub = rospy.Subscriber("environment", Environment,
self.EnvironmentCallback)
self.real = SimStates()
self.realnew = False
