├── LICENSE ├── README.md ├── doc ├── graph_msf.gif ├── imu_parameters.md ├── installation.md └── titleimg.png ├── examples ├── README.md └── excavator_dual_graph │ ├── CMakeLists.txt │ ├── config │ ├── extrinsic_params.yaml │ ├── gnss_params.yaml │ ├── graph_config.yaml │ └── graph_params.yaml │ ├── include │ └── excavator_dual_graph │ │ ├── ExcavatorEstimator.h │ │ └── ExcavatorStaticTransforms.h │ ├── launch │ ├── dual_graph.launch │ └── dual_graph_no_urdf.launch │ ├── package.xml │ ├── rviz │ └── gnss_lidar.rviz │ └── src │ ├── dual_graph_node.cpp │ └── lib │ ├── ExcavatorEstimator.cpp │ ├── ExcavatorStaticTransforms.cpp │ └── readParams.cpp ├── graph_msf ├── CMakeLists.txt ├── config │ ├── gnss_params.yaml │ ├── graph_config.yaml │ └── graph_params.yaml ├── include │ └── graph_msf │ │ ├── Datatypes.hpp │ │ ├── GraphManager.hpp │ │ ├── GraphMsf.h │ │ ├── GraphMsfInterface.h │ │ ├── GraphState.hpp │ │ ├── ImuBuffer.hpp │ │ ├── InterfacePrediction.h │ │ ├── StaticTransforms.h │ │ ├── config │ │ └── GraphConfig.h │ │ ├── factors │ │ ├── HeadingFactor.h │ │ └── PitchFactor.h │ │ ├── geometry │ │ ├── Angle.h │ │ └── math_utils.h │ │ ├── gnss │ │ ├── Gnss.h │ │ └── GnssHandler.h │ │ └── measurements │ │ ├── BinaryMeasurement.h │ │ ├── BinaryMeasurement6D.h │ │ ├── Measurement.h │ │ ├── UnaryMeasurement.h │ │ ├── UnaryMeasurement1D.h │ │ ├── UnaryMeasurement3D.h │ │ └── UnaryMeasurement6D.h ├── package.xml └── src │ └── lib │ ├── Gnss.cpp │ ├── GnssHandler.cpp │ ├── GraphManager.cpp │ ├── GraphMsf.cpp │ ├── GraphMsfInterface.cpp │ └── ImuBuffer.cpp └── graph_msf_ros ├── CMakeLists.txt ├── config ├── extrinsic_params.yaml ├── gnss_params.yaml └── graph_params.yaml ├── include └── graph_msf_ros │ ├── GraphMsfRos.h │ ├── extrinsics │ ├── ElementToRoot.h │ ├── StaticTransformsTf.h │ └── StaticTransformsUrdf.h │ └── util │ └── conversions.h ├── launch └── compslam_ros.launch ├── package.xml ├── rviz └── vis.rviz └── src └── lib ├── GraphMsfRos.cpp ├── StaticTransformsTf.cpp └── StaticTransformsUrdf.cpp /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/README.md -------------------------------------------------------------------------------- /doc/graph_msf.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/doc/graph_msf.gif -------------------------------------------------------------------------------- /doc/imu_parameters.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/doc/imu_parameters.md -------------------------------------------------------------------------------- /doc/installation.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/doc/installation.md -------------------------------------------------------------------------------- /doc/titleimg.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/doc/titleimg.png -------------------------------------------------------------------------------- /examples/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/examples/README.md -------------------------------------------------------------------------------- /examples/excavator_dual_graph/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/examples/excavator_dual_graph/CMakeLists.txt -------------------------------------------------------------------------------- /examples/excavator_dual_graph/config/extrinsic_params.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/examples/excavator_dual_graph/config/extrinsic_params.yaml -------------------------------------------------------------------------------- /examples/excavator_dual_graph/config/gnss_params.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/examples/excavator_dual_graph/config/gnss_params.yaml -------------------------------------------------------------------------------- /examples/excavator_dual_graph/config/graph_config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/examples/excavator_dual_graph/config/graph_config.yaml -------------------------------------------------------------------------------- /examples/excavator_dual_graph/config/graph_params.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/examples/excavator_dual_graph/config/graph_params.yaml -------------------------------------------------------------------------------- /examples/excavator_dual_graph/include/excavator_dual_graph/ExcavatorEstimator.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/examples/excavator_dual_graph/include/excavator_dual_graph/ExcavatorEstimator.h -------------------------------------------------------------------------------- /examples/excavator_dual_graph/include/excavator_dual_graph/ExcavatorStaticTransforms.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/examples/excavator_dual_graph/include/excavator_dual_graph/ExcavatorStaticTransforms.h -------------------------------------------------------------------------------- /examples/excavator_dual_graph/launch/dual_graph.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/examples/excavator_dual_graph/launch/dual_graph.launch -------------------------------------------------------------------------------- /examples/excavator_dual_graph/launch/dual_graph_no_urdf.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/examples/excavator_dual_graph/launch/dual_graph_no_urdf.launch -------------------------------------------------------------------------------- /examples/excavator_dual_graph/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/examples/excavator_dual_graph/package.xml -------------------------------------------------------------------------------- /examples/excavator_dual_graph/rviz/gnss_lidar.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/examples/excavator_dual_graph/rviz/gnss_lidar.rviz -------------------------------------------------------------------------------- /examples/excavator_dual_graph/src/dual_graph_node.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/examples/excavator_dual_graph/src/dual_graph_node.cpp -------------------------------------------------------------------------------- /examples/excavator_dual_graph/src/lib/ExcavatorEstimator.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/examples/excavator_dual_graph/src/lib/ExcavatorEstimator.cpp -------------------------------------------------------------------------------- /examples/excavator_dual_graph/src/lib/ExcavatorStaticTransforms.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/examples/excavator_dual_graph/src/lib/ExcavatorStaticTransforms.cpp -------------------------------------------------------------------------------- /examples/excavator_dual_graph/src/lib/readParams.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/examples/excavator_dual_graph/src/lib/readParams.cpp -------------------------------------------------------------------------------- /graph_msf/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/CMakeLists.txt -------------------------------------------------------------------------------- /graph_msf/config/gnss_params.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/config/gnss_params.yaml -------------------------------------------------------------------------------- /graph_msf/config/graph_config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/config/graph_config.yaml -------------------------------------------------------------------------------- /graph_msf/config/graph_params.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/config/graph_params.yaml -------------------------------------------------------------------------------- /graph_msf/include/graph_msf/Datatypes.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/include/graph_msf/Datatypes.hpp -------------------------------------------------------------------------------- /graph_msf/include/graph_msf/GraphManager.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/include/graph_msf/GraphManager.hpp -------------------------------------------------------------------------------- /graph_msf/include/graph_msf/GraphMsf.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/include/graph_msf/GraphMsf.h -------------------------------------------------------------------------------- /graph_msf/include/graph_msf/GraphMsfInterface.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/include/graph_msf/GraphMsfInterface.h -------------------------------------------------------------------------------- /graph_msf/include/graph_msf/GraphState.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/include/graph_msf/GraphState.hpp -------------------------------------------------------------------------------- /graph_msf/include/graph_msf/ImuBuffer.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/include/graph_msf/ImuBuffer.hpp -------------------------------------------------------------------------------- /graph_msf/include/graph_msf/InterfacePrediction.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/include/graph_msf/InterfacePrediction.h -------------------------------------------------------------------------------- /graph_msf/include/graph_msf/StaticTransforms.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/include/graph_msf/StaticTransforms.h -------------------------------------------------------------------------------- /graph_msf/include/graph_msf/config/GraphConfig.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/include/graph_msf/config/GraphConfig.h -------------------------------------------------------------------------------- /graph_msf/include/graph_msf/factors/HeadingFactor.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/include/graph_msf/factors/HeadingFactor.h -------------------------------------------------------------------------------- /graph_msf/include/graph_msf/factors/PitchFactor.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/include/graph_msf/factors/PitchFactor.h -------------------------------------------------------------------------------- /graph_msf/include/graph_msf/geometry/Angle.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/include/graph_msf/geometry/Angle.h -------------------------------------------------------------------------------- /graph_msf/include/graph_msf/geometry/math_utils.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/include/graph_msf/geometry/math_utils.h -------------------------------------------------------------------------------- /graph_msf/include/graph_msf/gnss/Gnss.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/include/graph_msf/gnss/Gnss.h -------------------------------------------------------------------------------- /graph_msf/include/graph_msf/gnss/GnssHandler.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/include/graph_msf/gnss/GnssHandler.h -------------------------------------------------------------------------------- /graph_msf/include/graph_msf/measurements/BinaryMeasurement.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/include/graph_msf/measurements/BinaryMeasurement.h -------------------------------------------------------------------------------- /graph_msf/include/graph_msf/measurements/BinaryMeasurement6D.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/include/graph_msf/measurements/BinaryMeasurement6D.h -------------------------------------------------------------------------------- /graph_msf/include/graph_msf/measurements/Measurement.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/include/graph_msf/measurements/Measurement.h -------------------------------------------------------------------------------- /graph_msf/include/graph_msf/measurements/UnaryMeasurement.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/include/graph_msf/measurements/UnaryMeasurement.h -------------------------------------------------------------------------------- /graph_msf/include/graph_msf/measurements/UnaryMeasurement1D.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/include/graph_msf/measurements/UnaryMeasurement1D.h -------------------------------------------------------------------------------- /graph_msf/include/graph_msf/measurements/UnaryMeasurement3D.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/include/graph_msf/measurements/UnaryMeasurement3D.h -------------------------------------------------------------------------------- /graph_msf/include/graph_msf/measurements/UnaryMeasurement6D.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/include/graph_msf/measurements/UnaryMeasurement6D.h -------------------------------------------------------------------------------- /graph_msf/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/package.xml -------------------------------------------------------------------------------- /graph_msf/src/lib/Gnss.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/src/lib/Gnss.cpp -------------------------------------------------------------------------------- /graph_msf/src/lib/GnssHandler.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/src/lib/GnssHandler.cpp -------------------------------------------------------------------------------- /graph_msf/src/lib/GraphManager.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/src/lib/GraphManager.cpp -------------------------------------------------------------------------------- /graph_msf/src/lib/GraphMsf.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/src/lib/GraphMsf.cpp -------------------------------------------------------------------------------- /graph_msf/src/lib/GraphMsfInterface.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/src/lib/GraphMsfInterface.cpp -------------------------------------------------------------------------------- /graph_msf/src/lib/ImuBuffer.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf/src/lib/ImuBuffer.cpp -------------------------------------------------------------------------------- /graph_msf_ros/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf_ros/CMakeLists.txt -------------------------------------------------------------------------------- /graph_msf_ros/config/extrinsic_params.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf_ros/config/extrinsic_params.yaml -------------------------------------------------------------------------------- /graph_msf_ros/config/gnss_params.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf_ros/config/gnss_params.yaml -------------------------------------------------------------------------------- /graph_msf_ros/config/graph_params.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf_ros/config/graph_params.yaml -------------------------------------------------------------------------------- /graph_msf_ros/include/graph_msf_ros/GraphMsfRos.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf_ros/include/graph_msf_ros/GraphMsfRos.h -------------------------------------------------------------------------------- /graph_msf_ros/include/graph_msf_ros/extrinsics/ElementToRoot.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf_ros/include/graph_msf_ros/extrinsics/ElementToRoot.h -------------------------------------------------------------------------------- /graph_msf_ros/include/graph_msf_ros/extrinsics/StaticTransformsTf.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf_ros/include/graph_msf_ros/extrinsics/StaticTransformsTf.h -------------------------------------------------------------------------------- /graph_msf_ros/include/graph_msf_ros/extrinsics/StaticTransformsUrdf.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf_ros/include/graph_msf_ros/extrinsics/StaticTransformsUrdf.h -------------------------------------------------------------------------------- /graph_msf_ros/include/graph_msf_ros/util/conversions.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf_ros/include/graph_msf_ros/util/conversions.h -------------------------------------------------------------------------------- /graph_msf_ros/launch/compslam_ros.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf_ros/launch/compslam_ros.launch -------------------------------------------------------------------------------- /graph_msf_ros/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf_ros/package.xml -------------------------------------------------------------------------------- /graph_msf_ros/rviz/vis.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf_ros/rviz/vis.rviz -------------------------------------------------------------------------------- /graph_msf_ros/src/lib/GraphMsfRos.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf_ros/src/lib/GraphMsfRos.cpp -------------------------------------------------------------------------------- /graph_msf_ros/src/lib/StaticTransformsTf.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf_ros/src/lib/StaticTransformsTf.cpp -------------------------------------------------------------------------------- /graph_msf_ros/src/lib/StaticTransformsUrdf.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/graph_msf/HEAD/graph_msf_ros/src/lib/StaticTransformsUrdf.cpp --------------------------------------------------------------------------------