State Estimation for Autonomous Car
This repository focuses on the state estimation module for autonomous vehicles, integrating the SBG Systems Inertial Measurement Unit (IMU) for precise and reliable state estimation. The module incorporates the SBG ROS2 Driver to interface with the SBG IMU seamlessly.
User can install the sbg_ros2_driver through the standard ROS installation system.
- Galactic
sudo apt-get install ros-galactic-sbg-driver - Foxy
sudo apt-get install ros-foxy-sbg-driver
The code has been tested on the following setup:
- Hardware: SBG Systems IMU
- Operating System: Ubuntu 20.04 (May also work on 22.04)
- ROS Version: ROS2 Galactic (Possibly compatible with Humble and Foxy, although not yet tested)
- Dependencies:
- Robot Operating System (ROS)
- SBG Driver
To run the default Ros2 node with the default configuration
ros2 launch sbg_driver sbg_device_launch.py
To run the magnetic calibration node
ros2 launch sbg_driver sbg_device_mag_calibration_launch.py
Ensure that you have all the requirements satisfied before proceeding.
`git clone https://github.com/HammadSiddiqui30/State-Estimation-Autonomous-Vehicle.git
Navigate to the cloned repository directory and build using Colcon:
cd <repository_directory>
colcon build
If all steps have been successful up to this point, proceed with the following:
Connect the SBG IMU
Run the ekf node in State Estimation.
ros2 run state_estimation ekf
Contributions to enhance the functionality, efficiency, or compatibility of this perception module are welcome. Please refer to the contribution guidelines for more information.
This project is licensed under the MIT License. Feel free to use and modify the code.
