MSF filter

Check MSF node

You must finish the pre-setup task.

Open a rqt GUI in a remote computer terminal by typing $ rqtand verify running nodes

• Menu Plugins/Topics/Topic Monitor: check filter input/output data

  • Filter input from Vicon: topic /firefly_blue/vrpn_client/raw_transform, 250Hz

  • Filter input from Firefly: topic /fcu/imu, 100Hz

  • Filter output: msf_core/pose or msf_core/odometry, 100Hz

• Menu Plugins/Visualization/Plot: plot the position, velocity, etc

• Menu Plugins/Introspection/Node Graph

Init the filter

• Menu Plugins/Configuration/Dynamic Reconfigure

  • fcu/fcu: chose POSCTRL_OFF for position_control and STATE_EST_OFF for state_estimation

  • pose_sensor/pose_sensor: click on core_init_filter

• Move the drone and check

After init the filter, the /pose_sensor node has to show a message (OBC terminal) as: initial measurement pos:[ 0.158259 0.0267092 0.754158] orientation: [0.998, 0.00129, 0.025, 0.0552] and some other messages.