Skip to content

Refactor: Modularize gnss_imu_fusion node #5

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom
Open
ZhongJiagui wants to merge 64 commits into
base: main
Choose a base branch
from
Open

Refactor: Modularize gnss_imu_fusion node #5

ZhongJiagui wants to merge 64 commits into from

Conversation

@ZhongJiagui
Copy link

@ZhongJiagui ZhongJiagui commented Sep 17, 2025

This PR refactors the monolithic gnss_imu_fusion_node into several distinct modules.

Changes:

  • Extracted data processing, backend optimization, and visualization logic into their own separate classes.
  • The main node is now primarily responsible for wiring these modules together.

Reason:

  • To improve code readability, maintainability, and make it easier to add new features in the future.

XRWang5658 and others added 30 commits April 16, 2025 07:04
@XRWang5658
update gnss tools for velocity conversion from ecef to enu frame
bd5441f
@XRWang5658
receive odometry message with gnss output (position + velocity) in EC…
3b4c495 
…EF frame
@XRWang5658
helper scripts to sychronize msgs according to header.stamp
c0bc81f
@XRWang5658
add gitignore
c86b92b
@XRWang5658
update git ignore
f891cc5
@XRWang5658
add grand cmakelist
fed1c90
@XRWang5658
update launch file to receive gnss output
958f2dc
@XRWang5658
comment absl to pass the catkin_make
a0c7e42
@XRWang5658
test give initial state for each key frame by IMU
9255330
@XRWang5658
Add gravity parameter in launch configuration.
5e5244b
@XRWang5658
Added VINS-MONO imu preint factor style for test
60db760
@XRWang5658
updated imu pre initialization
3d019e3
@XRWang5658
CRITICAL: fix imu preint bug, now it can work properly
5d8c79f
@Gao-tech1
docker
13ffc6d
@Gao-tech1
Update Dockerfile
a20f95c
@XRWang5658
add nlosExclusion to pass cmake
d4bc441
@XRWang5658
add ceres logger for more detailed information, including results and…
e684933 
… computational loads
@Gao-tech1
GraphGNSSLib
e1bfc4f
@Gao-tech1
Merge branch 'stf_main' of https://github.com/XRWang5658/ToySLAM into…
74593fa 
… stf_main
@XRWang5658
bug fixing
d58946d
@Gao-tech1
Merge branch 'stf_main' of https://github.com/XRWang5658/ToySLAM into…
47d74ee 
… stf_main
@XRWang5658
update disordered quaternion and pose parameterization
c8c77cf
@XRWang5658
[Unimportant stuff]
2303a0f
@XRWang5658
Merge branch 'stf_main' of https://github.com/XRWang5658/ToySLAM into…
b5eacc3 
… stf_main
@XRWang5658
archieve for current running version
57364a8
@XRWang5658
update plotter and scripts
2acd514
@XRWang5658
udpate gitignore
308b9b5
@Gao-tech1
Merge branch 'weisongwen:main' into stf_main
6ba32bc
@Gao-tech1
0523
a447fb5 
changed the condition in Line 2931 use_gps_velocity
@XRWang5658
unimportant changes
c042ab8
XRWang5658 and others added 30 commits May 26, 2025 16:23
@XRWang5658
delete unused code
691e411
@XRWang5658
move ResidualInfo out of MarginalizationInfo for better struct
ebf01ed
@XRWang5658
updated marginalization
9adb3b4
@XRWang5658
fixed marginalization bugs, now marginalization can work properly, bu…
54a2301 
…t need to restructure for other uses
@Gao-tech1
GT callback
86f6741
@XRWang5658
Add deleted gps call back from odometry message
f649068
@XRWang5658
make add noise a parameter for easier debug
23229bc
@XRWang5658
Add support for gnss_comm::NavSolnMsgs, for testing taslab's board
00f6a50
@XRWang5658
Add GNSS parser for more generic use
02fef97 
- Implemented a GNSS parser in `gnss_parser.h` to handle various GNSS message types including `GnssPVTSolnMsg`, `INSPVAX`, and `Odometry`. It can be extended more easily.
- Enabled flexibility in selecting GPS message types and topics for integration by simply changing the launch file.
@XRWang5658
fix imu orientation read bug
8b43bcc
@XRWang5658
updated parser for gnss_comm msg bugs
be7fce5
@XRWang5658
updated statistics for further analysis
d5e1dc1
@XRWang5658
modified rtkpos output with more information
285ba0c
@XRWang5658
updated odometry message parser with some helper functions
e9bfa74
@XRWang5658
update helper function to rearrange rosbag time according to gps week…
23bf298 
… & sec
@XRWang5658
fixed gt publish bug, and fixed ref point bug
d25d7d7
@XRWang5658
update: read the whole covariance matrix for states in gnss parser
611541a
@XRWang5658
update gnss positiion and velocity factor to use covariance matrix
0198562
@XRWang5658
update gnss_preprocessor dynamics mode launch file
0115650
@XRWang5658
add a helper script to analyze the frequncy of different messages
9de31ef 
path and the topics are hard coded in the script, please modify the corresponding bag path and topics that you need to analysis
@XRWang5658
updaete consistency check for outliers
e99c287
@XRWang5658
update python sripts for time reindex, to support GNSSPVTSolnMsg
b310838
@XRWang5658
Add nmea parser for ublox output in nmea files
449552a
@XRWang5658
Minor fixes
6548d67
@XRWang5658
update a temporary new readme file
f23259c
@XRWang5658
Clean some unused stuff for easier setup
6ea17ac
@XRWang5658
Delete ICP since it's not used
8081927
@XRWang5658
Delete trash files
4a3316a
@ZhongJiagui
feat: Modularize core components of the application
5470432
@ZhongJiagui
docs: Add project README
5e31af0
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

No reviews

Assignees

No one assigned

Labels

None yet

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

3 participants

@ZhongJiagui @XRWang5658 @Gao-tech1