anymal_estimator_graph

ANymal Estimator Graph

This is the readme for the GMSF-based estimator for the Anymal robot. The estimator is based on the GMSF library.

Compilation

Make sure you have all dependencies for GMSF installed. This mainly also includes having gtsam_catkin in your catkin workspace.

Compilation

Compiling the code should be straightforward after GMSF compiles successfully.

catkin build anymal_estimator_graph

Running the Code

On the Robot

The code can be run using the launch file:

roslaunch anymal_estimator_graph anymal_estimator_graph.launch

Replay Mode

roslaunch anymal_estimator_graph anymal_estimator_graph_replay.launch

Required

Currently in the basic version an IMU topic and a LiDAR PC2 topic are required. Both can be set in the corresponding launch file.

Parameter Tuning

All parameters are located in the config folder. The parameters in core alsways have to be specifiied and are robot-independent. The anymal specific parameters are loaded in the AnymalEstimator main class and can be adjusted for user needs.