editorial changes

README.md

@@ -4,12 +4,12 @@
 
 
 ## Overview
-(TBD) Slip-aware Navigation Stop Planning for Autonomous Planetary Rover Applications
+Slip-Based Autonomous ZUPT through Gaussian Process to Improve Planetary Rover Proprioceptive Localization
 ...
 
 ## Architecture
 
-<img alt="architecture" src="docs/algorithm.png" width="700">
+<img alt="architecture" src="docs/framework.png" width="700">
 
 **Keywords:** Mars Sample Return, planetary rovers, time series prediction, slip, zero velocity update, rover localization
 
@@ -22,6 +22,4 @@ Maintainer: Cagri Kilic, [email protected]**
 
 If you use this work in an academic context, please cite the following publication:
 
-* Cagri Kilic, Jason N. Gross, Nicholas Ohi, Yu Gu: **Slip-aware Navigation Stop Planning for Autonomous Planetary Rover Applications**. 
-
-
+* Cagri Kilic, Nicholas Ohi, Yu Gu, Jason N. Gross: **Slip-Based Autonomous ZUPT through Gaussian Process to Improve Planetary Rover Proprioceptive Localization**.

core_navigation/config/init_params.yaml

@@ -1,30 +1,20 @@
 mean_bias_a:
-  x: 0.049725549309
-  y: 0.280722422325
-  z: -9.806383392926
+  x: 0.269614133542350
+  y: -0.262166124574161
+  z: -9.804005623794065
 mean_bias_g:
-  x: -0.000007296495
-  y: -0.000147732137
-  z: 0.000591663048
+  x: 0.000268715437386711
+  y: -0.000161452230267971
+  z: 0.000678693501054130
 init_ecef:
-  x: 859112.684900000
-  y: -4836240.899300000
-  z: 4055467.61860000 #t9raw
-  # x: 856203.4886
-  # y: -4841345.9946
-  # z: 4049896.7715    #Outtest
+  x: 859153.015300000
+  y: -4836303.72660000
+  z: 4055378.50100000
 init_llh:
-  x: 0.6934756603499
-  y: -1.3949896896546
-  z: 338.9617659955771 #t9raw
-  # x: 0.69234816834
-  # y: -1.39575390508
-  # z: 257.30 #Outtest
+  x: 0.693457963620326
+  y: -1.39498384275845
+  z: 334.993517334743
 init_att:
   x: 0.0
   y: 0.0
-  # z: 5.48
-  z: 3.220132469929538 #t9raw
-  # z: 5.25344 #outtest
-  # z: 3.6
-  # z: 3.3
+  z: -0.733038286

core_navigation/src/CoreNav.cpp

@@ -1,3 +1,9 @@
+/* @file   CoreNav.cpp
+ * @brief  Core Navigation ES-EKF Node
+ * @author Cagri Kilic
+ * @author Jason Gross
+ */
+
 #include <core_navigation/CoreNav.h>
 #include <core_navigation/InsConst.h>
 #include <core_navigation/InsUtils.h>

gp_predictor/src/gp_predictor.cpp

@@ -1,3 +1,8 @@
+/* @file   gp_predictor.cpp
+ * @brief  Gaussian Prediction Node
+ * @author Cagri Kilic
+ */
+
 #include <ros/ros.h>
 #include <gp_predictor/gp_predictor.h>
 
@@ -94,7 +99,7 @@ void GpPredictor::GPCallBack(const core_nav::GP_Output::ConstPtr& gp_data_in_){
             xy_errSlip = sqrt((ins_enu_slip3p(0)-ins_enu_slip(0))*(ins_enu_slip3p(0)-ins_enu_slip(0)) + (ins_enu_slip3p(1)-ins_enu_slip(1))*(ins_enu_slip3p(1)-ins_enu_slip(1)));
             ROS_ERROR_THROTTLE(0.5,"XYerror %.6f meters", xy_errSlip);
 
-            if (xy_errSlip > 2.00)
+            if (xy_errSlip > 3.00) //Threshold can be set in here
             {
 
               ROS_INFO("Stop Command Required, error is more than %.2f meters", xy_errSlip);
@@ -138,8 +143,6 @@ bool GpPredictor::LoadParameters(const ros::NodeHandle& nh_){
 
 GpPredictor::Vector3 GpPredictor::llh_to_enu(double lat, double lon, double height){
 
-        // countLLH2ENU++;
-        // ROS_INFO_STREAM("countLLH2ENU: " << countLLH2ENU);
         double phi = lat;
         double lambda = lon;
         double h = height;

gps_core_navigation/src/gps_CoreNav.cpp

@@ -1,3 +1,8 @@
+/* @file   gps_CoreNav.cpp
+ * @brief  Loosely Coupled GPS-IMU algorithm
+ * @author Cagri Kilic
+ * @author Jason Gross
+ */
 #include <gps_core_navigation/gps_CoreNav.h>
 #include <gps_core_navigation/InsConst.h>
 #include <gps_core_navigation/InsUtils.h>

gps_data_log/scripts/gps_log_node.py

@@ -1,3 +1,8 @@
+# /* @file   gps_log_node.py
+#  * @brief  Novatel GPS Logger
+#  * @author Nicholas Ohi
+#  * @author Cagri Kilic
+#  */
 #!/usr/bin/env python
 import rospy
 import serial