updating env params use

Author: AhmedBorch

navigation/eskf/config/eskf_params.yaml

@@ -22,6 +22,11 @@
       publish_twist: true
       publish_rate_ms: 5
       add_gravity_to_imu: false
+      # biases in the IMU
       initial_gyro_bias: [0.0, 0.0, 0.0]
       initial_accel_bias: [0.0, 0.0, 0.0]
       publish_biases: false
+      # environmental parameters
+      atmospheric_pressure: 101000.0 # [Pa]
+      water_density: 1026.0 # [kg/m3]
+      gravity: 9.82841

navigation/eskf/config/eskf_params_real_world.yaml

@@ -21,10 +21,15 @@
       publish_pose: true
       publish_twist: true
       publish_rate_ms: 5
+      # biases in the IMU
       add_gravity_to_imu: true
       initial_gyro_bias: [0.0, 0.0, 0.0]
       initial_accel_bias: [3.53e-2, 0.0, -0.0533]
       publish_biases: true
+      # environmental parameters
+      atmospheric_pressure: 101000.0 # [Pa]
+      water_density: 1026.0 # [kg/m3]
+      gravity: 9.82841
 
 # USED SENSORS
   # IMU: Kongsberg mini MRU

navigation/eskf/launch/eskf.launch.py

@@ -11,10 +11,6 @@
     resolve_drone_and_namespace,
 )
 
-# eskf_params = path.join(
-#     get_package_share_directory("eskf"), "config", "eskf_params_real_world.yaml"
-# )
-
 
 def launch_setup(context, *args, **kwargs):
     drone, namespace = resolve_drone_and_namespace(context)
@@ -37,12 +33,6 @@ def launch_setup(context, *args, **kwargs):
         get_package_share_directory("eskf"), "config", param_file_name
     )
 
-    drone_env_params = os.path.join(
-        get_package_share_directory("auv_setup"),
-        "config",
-        "environments",
-        "trondheim_saltwater.yaml",
-    )
     eskf_node = Node(
         package="eskf",
         executable="eskf_node",
@@ -51,7 +41,6 @@ def launch_setup(context, *args, **kwargs):
         parameters=[
             eskf_params,
             drone_params,
-            drone_env_params,
             {"frame_prefix": namespace},
         ],
         output="screen",

navigation/eskf/src/eskf_ros.cpp

@@ -439,12 +439,11 @@ void ESKFNode::lookup_static_transforms() {
 void ESKFNode::complete_initialization() {
     set_subscribers_and_publisher();
     // gravity, water density and atmospheric pressure.
-    this->gravity =
-        -this->declare_parameter<double>("gravity.acceleration", 9.81);
+    this->gravity = -this->declare_parameter<double>("gravity", 9.81);
     this->water_density =
-        this->declare_parameter<double>("water.density", 1000.0);
+        this->declare_parameter<double>("water_density", 1000.0);
     this->atmospheric_pressure =
-        this->declare_parameter<double>("atmosphere.pressure", 100000.0);
+        this->declare_parameter<double>("atmospheric_pressure", 100000.0);
     set_parameters();
 
     time_step_ = std::chrono::milliseconds(