• launch/uwbRT.launch
• launch/uwb_imu_fusion_sim.launch
• launch/loam.launch
• launch/gnssSpp.launch
  • • frame_id [default: gnss] — Frame ID for GNSS measurements
    • initial_latitude [default: 22.3193] — Initial latitude (deg) - Hong Kong
    • initial_longitude [default: 114.1694] — Initial longitude (deg) - Hong Kong
    • initial_altitude [default: 100.0] — Initial altitude (m)
    • min_cn0 [default: 10.0] — Minimum carrier-to-noise ratio (dB-Hz) - signals below this strength are ignored
    • min_satellites [default: 4] — Minimum number of satellites required for position solution
    • cut_off_degree [default: 10.0] — Elevation cutoff angle (degrees) for position calculation
    • disable_cn0_filter [default: false] — Disable CN0 filtering (for debugging)
    • disable_elevation_filter [default: false] — Disable elevation mask filtering (for debugging)
    • force_use_ephemeris [default: true] — Force using ephemeris regardless of age
    • apply_iono_correction [default: true] — Apply ionospheric correction using Klobuchar model
    • current_gps_week [default: 2134] — Current GPS week number for time conversion
    • current_leap_seconds [default: 18.0] — Current GPS-UTC leap seconds
    • apply_position_offset [default: false] — Apply position offset to correct local datum difference
    • position_offset_east [default: -50.0] — Position offset in East direction (meters)
    • position_offset_north [default: -15.0] — Position offset in North direction (meters)
    • position_offset_up [default: 0.0] — Position offset in Up direction (meters)
    • output_csv_path [default: /home/wws/Download/spp_results.csv] — Path to save SPP results in CSV format
    • ephem_topic [default: /ublox_driver/ephem] — Topic for GPS ephemeris data
    • iono_params_topic [default: /ublox_driver/iono_params] — Topic for ionospheric parameters
    • range_meas_topic [default: /ublox_driver/range_meas] — Topic for GNSS range measurements
    • rviz [default: true] — Launch RViz for visualization
• launch/fusion.launch
• launch/uwb_imu_batch.launch
  • • use_gps [default: true] — Use GPS for position/velocity (true) or UWB for position only (false)
    • use_gps_orientation_as_initial [default: true] — Use GPS orientation as initial value for each keyframe
    • use_gps_orientation_as_constraint [default: false] — Use GPS orientation as an optimization constraint (pulls estimated orientation toward GPS measurement)
    • use_gps_velocity [default: true] — Use GPS velocity to initialize each keyframe. If enable_velocity_constraint is false, GPS velocity is only used for initialization, not as a constraint.
    • imu_topic [default: /imu/data] — Topic for IMU measurements (orientation, angular velocity, linear acceleration)
    • gps_topic [default: /novatel_data/inspvax] — Topic for GPS/INS measurements (position, velocity, orientation)
    • uwb_topic [default: /sensor_simulator/UWBPoistionPS] — Topic for UWB position measurements (position only)
    • world_frame_id [default: map] — World reference frame for position estimation
    • body_frame_id [default: base_link] — Body frame of the vehicle
    • imu_acc_noise [default: 0.03] — Accelerometer white noise (m/s²). Higher values trust accelerometer less.
    • imu_gyro_noise [default: 0.002] — Gyroscope white noise (rad/s). Higher values trust gyroscope less.
    • gps_position_noise [default: 0.5] — GPS position measurement noise (m). Higher values allow more IMU influence.
    • gps_velocity_noise [default: 0.1] — GPS velocity measurement noise (m/s). Higher values allow more IMU influence.
    • gps_orientation_noise [default: 0.1] — GPS orientation measurement noise (rad). Higher values trust GPS orientation less.
    • uwb_position_noise [default: 0.1] — UWB position measurement noise (m). Only used in UWB mode.
    • initial_acc_bias_x [default: 0.05] — Initial accelerometer bias X component (m/s²)
    • initial_acc_bias_y [default: -0.05] — Initial accelerometer bias Y component (m/s²)
    • initial_acc_bias_z [default: 0.05] — Initial accelerometer bias Z component (m/s²)
    • initial_gyro_bias_x [default: 0.001] — Initial gyroscope bias X component (rad/s)
    • initial_gyro_bias_y [default: -0.001] — Initial gyroscope bias Y component (rad/s)
    • initial_gyro_bias_z [default: 0.001] — Initial gyroscope bias Z component (rad/s)
    • optimization_window_size [default: 10] — Number of keyframes to maintain in sliding window optimization. Larger windows provide better accuracy but slower performance.
    • optimization_frequency [default: 10.0] — How often to run the optimizer (Hz). Higher values give more frequent updates but increase CPU usage.
    • max_iterations [default: 10] — Maximum iterations for Ceres solver. Higher values may improve accuracy but increase computation time.
    • enable_bias_estimation [default: true] — Estimate and correct for IMU biases. Almost always should be enabled.
    • enable_marginalization [default: true] — Use marginalization to maintain information from older keyframes. Improves stability.
    • enable_roll_pitch_constraint [default: true] — Constrain roll and pitch to be near zero (assumes ground vehicle on flat terrain).
    • enable_gravity_alignment_factor [default: false] — Use accelerometer to align with gravity. Usually disabled for vehicles with significant acceleration.
    • enable_orientation_smoothness_factor [default: true] — Enforce smooth changes in orientation between keyframes.
    • enable_imu_orientation_factor [default: false] — Use IMU's orientation measurement as a constraint (typically disabled as we prefer integration).
    • enable_velocity_constraint [default: false] — Apply GPS velocity as constraint during optimization. When false, GPS velocity only affects initialization.
    • enable_horizontal_velocity_incentive [default: false] — Encourage vehicle to maintain minimum horizontal velocity. Set to false if low/zero speeds are expected.
    • max_velocity [default: 55.0] — Maximum allowed velocity (m/s = 198 km/h). Acts as upper limit for estimates.
    • min_horizontal_velocity [default: 0.0] — Minimum horizontal velocity to maintain (m/s). Set to 0 if vehicle can stop.
    • max_integration_dt [default: 0.005] — Maximum time step for IMU integration (s). Smaller steps improve accuracy but increase computation.
    • bias_correction_threshold [default: 0.05] — Threshold for bias correction in IMU preintegration. Very high value effectively removes limits on bias correction.
    • roll_pitch_weight [default: 300.0] — Weight for roll/pitch constraints. Higher values enforce more level orientation.
    • imu_orientation_weight [default: 50.0] — Weight for IMU orientation factor. Only used if enable_imu_orientation_factor is true.
    • bias_constraint_weight [default: 1000.0] — Weight for bias magnitude constraints. Higher values limit biases to smaller values.
    • velocity_constraint_weight [default: 150.0] — Weight for velocity magnitude constraint. Only used if enable_velocity_constraint is true.
    • horizontal_velocity_weight [default: 10.0] — Weight for horizontal velocity incentive. Only used if enable_horizontal_velocity_incentive is true.
    • orientation_smoothness_weight [default: 100.0] — Weight for orientation smoothness. Higher values enforce smoother orientation changes.
    • gravity_alignment_weight [default: 150.0] — Weight for gravity alignment. Only used if enable_gravity_alignment_factor is true.
    • rviz [default: true] — Launch RViz for visualization

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