Feature/eskf landmark valve - #667

Open

AntTra wants to merge 128 commits into

dev/eskf_fuse_depthfrom

feature/eskf-landmark-valve

Commits on Feb 9, 2025

feat: added the math and setup of the ESKF, need some changes
Talhanc
committed
17a7660

Commits on Feb 10, 2025

feat: added in the IMU msg and DVL msg, pluss ros2 setup
Talhanc
committed
dff90b7

Commits on Feb 21, 2025

feat: added ES-UKF filter
Talhanc
committed
d428dfb

Commits on Feb 27, 2025

feat: added UKF fix injection step
Talhanc
committed
382b079

Commits on Mar 9, 2025

feat: working ukf filter is added, some issue in the ESUKF
Talhanc
committed
52bdaeb

Commits on Mar 14, 2025

added in some changes to eskf and the ukf algorithm
Talhanc
committed
2a3daba
added test script
Talhanc
committed
007c240
fixed some errors, code runs from eskf_test now
Talhanc
committed
1fb496b

Commits on Mar 20, 2025

added changes to ukf
Talhanc
committed
e110152

Commits on Mar 28, 2025

feat: Added ESKF in cpp using .hpp and .cpp, current implementation uses msg imu/data_raw and /orca/pose as the dvl info
Talhanc
committed
1e02ea2

Commits on Apr 2, 2025

fix: Added correction for the IMU measurements
Talhanc
committed
1ea9e56

Commits on Apr 3, 2025

Commits on Apr 5, 2025

fix: added errorstate and nominalstate variables into the eskf class
Talhanc
committed
ea29da3

Commits on Apr 17, 2025

Commits on May 8, 2025

feat: added NIS plots
Talhanc
committed
65e8467

Commits on May 13, 2025

Commits on May 14, 2025

feat: Adding in the TUKF and the UKF
Talhanc
committed
124f337

Commits on May 18, 2025

fix: added tukf and simulation
Talhanc
committed
3da7c44

Commits on May 20, 2025

fix:added in some minor fixes
Talhanc
committed
025410a

Commits on May 30, 2025

added the cpp code
Talhanc
committed
0475154

Commits on Oct 5, 2025

Merge branch 'main' into eskf-and-tukf-test
Talhanc
committed
72d13a2
fix: removing tukf and some errors in eskf
Talhanc
committed
334519d
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot]
committed
7d112b8

Commits on Oct 7, 2025

Commits on Oct 19, 2025

We do a little bit of refactoring
chrstrom
committed
80cbd2d
refactor(eskf): vortex-utils enjoyer
Andeshog
committed
3a1b03c
merge main
Andeshog
committed
2e78156

Commits on Nov 9, 2025

feat: added the math and setup of the ESKF, need some changes

Talhanc
authored and
AhmedBorch
committed
08f9b6d
feat: added in the IMU msg and DVL msg, pluss ros2 setup

Talhanc
authored and
AhmedBorch
committed
d5ff3a0
feat: added ES-UKF filter

Talhanc
authored and
AhmedBorch
committed
a40e4e5
feat: added UKF fix injection step

Talhanc
authored and
AhmedBorch
committed
2851c66
feat: working ukf filter is added, some issue in the ESUKF

Talhanc
authored and
AhmedBorch
committed
780cede
added in some changes to eskf and the ukf algorithm

Talhanc
authored and
AhmedBorch
committed
95573c7
added test script

Talhanc
authored and
AhmedBorch
committed
bbb3dd6
fixed some errors, code runs from eskf_test now

Talhanc
authored and
AhmedBorch
committed
8c6ab5b
added changes to ukf

Talhanc
authored and
AhmedBorch
committed
d131c8c
feat: Added ESKF in cpp using .hpp and .cpp, current implementation uses msg imu/data_raw and /orca/pose as the dvl info

Talhanc
authored and
AhmedBorch
committed
006d146
fix: Added correction for the IMU measurements

Talhanc
authored and
AhmedBorch
committed
05f3dbd
[pre-commit.ci] auto fixes from pre-commit.com hooks

pre-commit-ci[bot]
authored and
AhmedBorch
committed
6893a15
refactor: remove python eskf

Talhanc
authored and
AhmedBorch
committed
dfa687c
fix: added errorstate and nominalstate variables into the eskf class

Talhanc
authored and
AhmedBorch
committed
fdf7263
feat: modified imu correction and added in tested imu noise

Talhanc
authored and
AhmedBorch
committed
a78e9fa
[pre-commit.ci] auto fixes from pre-commit.com hooks

pre-commit-ci[bot]
authored and
AhmedBorch
committed
7319110
feat: added NIS plots

Talhanc
authored and
AhmedBorch
committed
cef3532
fix: issues in innovation and jacobian of the measurement

Talhanc
authored and
AhmedBorch
committed
73cc153
[pre-commit.ci] auto fixes from pre-commit.com hooks

pre-commit-ci[bot]
authored and
AhmedBorch
committed
e2b13a5
feat: Adding in the TUKF and the UKF

Talhanc
authored and
AhmedBorch
committed
75feb13
fix: added tukf and simulation

Talhanc
authored and
AhmedBorch
committed
7e229be
fix:added in some minor fixes

Talhanc
authored and
AhmedBorch
committed
c51b9a3
added the cpp code

Talhanc
authored and
AhmedBorch
committed
1d65dcc
fix: removing tukf and some errors in eskf

Talhanc
authored and
AhmedBorch
committed
b2570d6
[pre-commit.ci] auto fixes from pre-commit.com hooks

pre-commit-ci[bot]
authored and
AhmedBorch
committed
835146c
ci: add node test for eskf

Andeshog
authored and
AhmedBorch
committed
733cc90
feat: Added fancy text for starting filter

Talhanc
authored and
AhmedBorch
committed
e5332c5
fix: moved the fancy text variable outside the initiation

Talhanc
authored and
AhmedBorch
committed
d964d23
Fixed some of the suggested comments, add debug flag
AhmedBorch
committed
6d0f000
updating the published topic name
AhmedBorch
committed
e4be55e
implemented the sensor concept requirement, added eskf.tpp so that I don't put the definition in the header
AhmedBorch
committed
b4b04fe
removed gravity from the state vector and put it seperately for efficiency
AhmedBorch
committed
ea4fbaa
added code for errors and for covariance publishing
AhmedBorch
committed
0f231c1
added the modifications from Talha's branch /dev/auv-navigation-eskf (removed local utils, fixed naming)
AhmedBorch
committed
02c87c3
removed unused variable and old comment
AhmedBorch
committed
d87003b
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot]
committed
8cf1048

Commits on Jan 5, 2026

Merge branch 'main' into dev/eskf_fuse_depth
AhmedBorch
authored
ffa2e49
clang-format fix
AhmedBorch
committed
3048852
ament_cpplint fixes
AhmedBorch
committed
d40d40b
Merge branch 'main' into dev/eskf_fuse_depth
AhmedBorch
authored
b2a7ca3
missing dependency
AhmedBorch
committed
f2c9d2a
updating yaml, P(cov) is 15*15 now
AhmedBorch
committed
fbf0558
update for the separate vortex_utils
AhmedBorch
committed
5975165

Commits on Jan 9, 2026

eskf: added VO-relative anchoring, cleaned duplicate typedef matrices, added local visual egomotion anchoring, reset VO anchor on measurement gaps, fuse VO as relative pose measurement'
AntTra
committed
52b2a06

Commits on Jan 14, 2026

refactor: split valve code into logic and ROS. Turned off the DVL in eskf
AntTra
committed
af62692

Commits on Jan 15, 2026

Commits on Jan 16, 2026

Commits on Jan 20, 2026

feat: handles multiple unique marker IDs in a single frame
AntTra
committed
454bd16

Commits on Jan 21, 2026

updated to use vortex_utils_ros
AntTra
committed
826ab51

Commits on Feb 2, 2026

refactor: renamed from valve to visual egomotion, VO using parameters from YAML. ESKF changes: anchor transform, velocity update from consecutive VO measurements, smart anchor reset, NIS rejections…
AntTra
committed
6186989

Commits on Feb 3, 2026

modified smart anchoring to deterministicly pick lowest id
AntTra
committed
6535f82
refactor: deleted anchor_id_
AntTra
committed
7e77a46

Commits on Feb 5, 2026

removed mad, renamed some variables in visual egomotion
AntTra
committed
e7715cd
Merge branch 'main' into dev/eskf_fuse_depth
AhmedBorch
authored
66cafdb

Commits on Feb 6, 2026

code for debugging+NEES/RMSE test file + fix for odom ang vel output
AhmedBorch
committed
363b855

Commits on Feb 7, 2026

removed now redundant VO debugging
AntTra
committed
a4619d6
removed residual definitions from pose cov innov debug
AntTra
committed
fc3738f

Commits on Feb 10, 2026

Commits on Feb 11, 2026

Commits on Feb 15, 2026

merge completed with dev/eskf-fuse-depth, refactor: split landmark_egomotion code from eskf, and changed paths to ros and lib dir
AntTra
committed
67d0f8b
deleted empty landmark launch node
AntTra
committed
4c26e61
fixed rotationclass acronym
AntTra
committed
3bd7b09
removed lib/ in .gitignore and retracked ignored files. fix build/header_guard
AntTra
committed
73c744d
removed ifdef guards
AntTra
committed
1c8d016
added vo params in eskf
vortexuser
committed
906897d
newline in eskf_params, space in comment
AntTra
committed
13c2fdc

Commits on Mar 2, 2026

Commits on Mar 17, 2026

Commits on Mar 18, 2026

removed dead landmark yaml, removed vel_alpha, added VO reject and anchor reset warnings, refactor
AntTra
committed
fe8c8e2

Commits on Mar 19, 2026

changing params use based on latest changes in simulation and auv_setup
AntTra
committed
aba7a85

Commits on Mar 23, 2026

Commits on Mar 29, 2026

removed redundant eskf rebuild in setup.sh
AntTra
committed
5ffae62
Merge branch 'dev/eskf_fuse_depth' into feature/eskf-landmark-valve
AntTra
authored
7ab3439

Commits on Apr 2, 2026

Commits on Apr 3, 2026

Merge pull request #705 from vortexntnu/fix/landmark-server
CurryMonsters
authored
8a0f2e8

Commits on Apr 4, 2026

Merge branch 'dev/eskf_fuse_depth' into feature/eskf-landmark-valve
AntTra
authored
963afcf
Merge branch 'main' into feature/eskf-landmark-valve
AntTra
committed
96a2d96
merged from main and dev/eskf_fuse_depth
AntTra
committed
bbb983c