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The motion model assumed that SAM's on the surface or at least horizontal. Pitching it messed with the motion model. Fully integrating all angular velocities and transforming them into the proper world frame solved the problem and we get good estimates now.
- Fixed the motion model for the particles. Not sure why it was changed, probably some of the Stonefish fixes. - Added flags to the particle filter launch file depending on whether we rerun simulation or experimental data. It's not nice but works and we don't need to commment/uncomment lines in the launch file. - Deleted some old code junk - Renamed a few functions in the filter to make them clearer.
Updated the motion model in the particles. That fixed stuff. Also dropped more pose estimation methods for computational purpose when running experimental data.
- Changed the motion model back to only look at the angles and only integrate the yaw angle - Changed the covariances to achieve the same performance as the DR has. - Some refactoring of names in the PF - Disabled respawning nodes in the DR launch file. Otherwise we cannot use shell scripts to run the DR because every time you'd kill one of these nodes, a new one would respawn.
- Fixed the pf motion model (again) - Randomized initial conditions for sam and the docking station
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Merging everything done for the visual particle filter SLAM