Development - #720

Draft

jorgenfj wants to merge 115 commits into

mainfrom

Commits on Feb 18, 2026

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

Talhanc
authored and
AhmedBorch
committed
f8e4c23
feat: added in the IMU msg and DVL msg, pluss ros2 setup

Talhanc
authored and
AhmedBorch
committed
d11a267
feat: added ES-UKF filter

Talhanc
authored and
AhmedBorch
committed
648e39f
feat: added UKF fix injection step

Talhanc
authored and
AhmedBorch
committed
59164c3
feat: working ukf filter is added, some issue in the ESUKF

Talhanc
authored and
AhmedBorch
committed
b5e1453
added in some changes to eskf and the ukf algorithm

Talhanc
authored and
AhmedBorch
committed
707c4f4
added test script

Talhanc
authored and
AhmedBorch
committed
3861aab
fixed some errors, code runs from eskf_test now

Talhanc
authored and
AhmedBorch
committed
2ede07e
added changes to ukf

Talhanc
authored and
AhmedBorch
committed
60e533e
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
b569a60
fix: Added correction for the IMU measurements

Talhanc
authored and
AhmedBorch
committed
f0ccaf0
[pre-commit.ci] auto fixes from pre-commit.com hooks

pre-commit-ci[bot]
authored and
AhmedBorch
committed
db879db
refactor: remove python eskf

Talhanc
authored and
AhmedBorch
committed
b0e97bd
fix: added errorstate and nominalstate variables into the eskf class

Talhanc
authored and
AhmedBorch
committed
32e2d66
feat: modified imu correction and added in tested imu noise

Talhanc
authored and
AhmedBorch
committed
ed91667
[pre-commit.ci] auto fixes from pre-commit.com hooks

pre-commit-ci[bot]
authored and
AhmedBorch
committed
c5f443e
feat: added NIS plots

Talhanc
authored and
AhmedBorch
committed
3bf8b94
fix: issues in innovation and jacobian of the measurement

Talhanc
authored and
AhmedBorch
committed
10c8ec9
[pre-commit.ci] auto fixes from pre-commit.com hooks

pre-commit-ci[bot]
authored and
AhmedBorch
committed
e08ef73
feat: Adding in the TUKF and the UKF

Talhanc
authored and
AhmedBorch
committed
4078d43
fix: added tukf and simulation

Talhanc
authored and
AhmedBorch
committed
338bb9e
fix:added in some minor fixes

Talhanc
authored and
AhmedBorch
committed
7a88044
added the cpp code

Talhanc
authored and
AhmedBorch
committed
017a1f8
fix: removing tukf and some errors in eskf

Talhanc
authored and
AhmedBorch
committed
723da45
[pre-commit.ci] auto fixes from pre-commit.com hooks

pre-commit-ci[bot]
authored and
AhmedBorch
committed
1d34174
ci: add node test for eskf

Andeshog
authored and
AhmedBorch
committed
9f9c916
feat: Added fancy text for starting filter

Talhanc
authored and
AhmedBorch
committed
587137d
fix: moved the fancy text variable outside the initiation

Talhanc
authored and
AhmedBorch
committed
f3b1429
Fixed some of the suggested comments, add debug flag
AhmedBorch
committed
0659e42
updating the published topic name
AhmedBorch
committed
15dd969
implemented the sensor concept requirement, added eskf.tpp so that I don't put the definition in the header
AhmedBorch
committed
fe06684
removed gravity from the state vector and put it seperately for efficiency
AhmedBorch
committed
c1275ef
added code for errors and for covariance publishing
AhmedBorch
committed
4c869db
added the modifications from Talha's branch /dev/auv-navigation-eskf (removed local utils, fixed naming)
AhmedBorch
committed
2b340d8
removed unused variable and old comment
AhmedBorch
committed
9771158
[pre-commit.ci] auto fixes from pre-commit.com hooks

pre-commit-ci[bot]
authored and
AhmedBorch
committed
e7e6450
clang-format fix
AhmedBorch
committed
ed87ce6
ament_cpplint fixes
AhmedBorch
committed
8e9fb52
missing dependency
AhmedBorch
committed
56fbccc
updating yaml, P(cov) is 15*15 now
AhmedBorch
committed
03f2dae
update for the separate vortex_utils
AhmedBorch
committed
ec0ffcf
puting the covariance in the odom msg. Fixing the orientation for IMU, it seems the accelerometer and gyro have different frames
AhmedBorch
committed
08b88d2
clnag-format fix
AhmedBorch
committed
0ea28f0
code for debugging+NEES/RMSE test file + fix for odom ang vel output
AhmedBorch
committed
c945ab8
removing debugging topics, fixing the initial orientation, and the rot matrix for imu
AhmedBorch
committed
e9c9e78
fixes for review findings
AhmedBorch
committed
99a506b
fixes for pre-commit
AhmedBorch
committed
0e6621d

Commits on Mar 2, 2026

Commits on Mar 15, 2026

Commits on Mar 27, 2026

Merge remote-tracking branch 'origin/main' into dev/eskf_fuse_depth
AhmedBorch
committed
05d884a

Commits on Mar 28, 2026

Merge remote-tracking branch 'origin/main' into dev/eskf_fuse_depth
AhmedBorch
committed
62bd1d3
fusing the depth sensor, adding a separate NIS for depth and DVL
AhmedBorch
committed
104c972
change to access the params
AhmedBorch
committed
09a81e5

Commits on Mar 30, 2026

Merge remote-tracking branch 'origin/main' into dev/eskf_fuse_depth
AhmedBorch
committed
4cf174d
merging changes for transformer from easter testing26 branch
AhmedBorch
committed
a7c8aa6
initial identity quat
AhmedBorch
committed
6514e76

Commits on Mar 31, 2026

removing the odom/eskf topic
AhmedBorch
committed
d602153
added changes to account for imus that cancel gravity, added a yaml for real world with some calib for imu bias
AhmedBorch
committed
1e1d921
updating env params use
AhmedBorch
committed
95b70dc

Commits on May 14, 2026

Commits on May 18, 2026

Commits on May 20, 2026

remove imu real accel support. Remove initial imu biases
jorgenfj
committed
4e5d62e
added reset service call for landmark, referencefilter, waypointmanager
vortexuser
committed
3db7732
fix gravity sign
jorgenfj
committed
2a91d70
rename types: {StateQuat, StateEuler} -> {NominalState, ErrorState}
jorgenfj
committed
580fb55
support for gauge and absolute pressure in callback
jorgenfj
committed
7d23d9b
underscore for env member variables
jorgenfj
committed
12b2d3c
env config launch arg
jorgenfj
committed
7e5d140
remove code for unaligned gyro and accel
jorgenfj
committed
6797ae8
per sensor config. Config meas noise
jorgenfj
committed
e970cef

Commits on May 21, 2026

fix default dvl meas noise
jorgenfj
committed
32155d8

Commits on May 22, 2026

Merge branch 'dev/eskf_fuse_depth' into development
jorgenfj
committed
b101367

Commits on May 23, 2026

made env params doubles
jorgenfj
committed
d581250
update naut pressure tf
jorgenfj
committed
9338f3d
update wit changes for eskf debugging
jorgenfj
committed
ab1e9fd
per sensor NIS
jorgenfj
committed
f538b1b
dvl and depth debug publishers
jorgenfj
committed
7e13a67

Commits on May 24, 2026

Commits on May 29, 2026

Feat/altitude reference (#719)
jorgenfj
authored
d077a86
guidance target debug publisher
jorgenfj
committed
adf0afb

Commits on May 30, 2026

add new modes to euler reference
jorgenfj
committed
0fbb3bc
add require_altitude_convergence logic to quat reference filter
jorgenfj
committed
233128d
Merge branch 'dev/eskf_fuse_depth' into development
jorgenfj
committed
d10170f
refactor 'publish_debug' mode
jorgenfj
committed
73a2a77
publish dvl_body and depth args
jorgenfj
committed
1820e75
launch file refactor
jorgenfj
committed
b825174
update reference fitler omega
vortexuser
committed
5f269d5

Commits on Jun 1, 2026

update default ori mode of joystick to quat
Vortex
committed
0fcaa8c
add string debug publisher for mode and killswitch
Vortex
committed
0fe3742
waypoint debug publisher
Vortex
committed
1a416a6
update launch script to include domain-id and keyboard-joy options
vortexuser
committed
85aa91b
update launch script to replace message publisher with rpy publisher
vortexuser
committed
13b05c4

Commits on Jun 4, 2026

jørgen changes
Vortex
committed
32da533

Commits on Jun 5, 2026

added topic and srv to naut.yaml
jorgenfj
committed
6a5af11

Commits on Jun 11, 2026

feat: convert thruster interface to can
forrisdahl
committed
d7cac5a

Commits on Jun 12, 2026

fix: not having reset can id
forrisdahl
committed
19e12b1

Commits on Jun 16, 2026