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[PV][feat] Update calibration for GPS

Julia Sanchez requested to merge feat/UpdateCalibrationForGPS into master


Update the calibration process for GPS which had not been modified during external pose update in previous MR !362 (merged)


  1. Add window to compute calibration on small trajectory portions to limit the drift effect
  2. Add lever arm constraint if the information is known
  3. Add GPS calibration in PV wrapper




I have used the warehouse data


In SB SLAM build folder:

ninja install


LV params

External sensor file

GPS data file

External sensor calibration file


  1. Run LidarView
  2. Choose advanced mode
  3. Change parameters
  4. Load external data file
  5. Run a bit of trajectory
  6. Load GPS data file
  7. Click on Calibrate -> check result
  8. Enter the lever arm 0.0907
  9. Click again on Calibrate -> check result


  • Camel case everywhere except for ROS variables/parameters
  • Lower case for local variables and lambda functions
  • Upper case for pour members, methods and tool functions (in Utils)
  • Precise namespace when calling a function (or this->X or classe.X)
  • Align code (for multiline if and while, "&&" or "||" go in upper line to ensure alignement)
  • Space between if, while, for and parenthesis
  • Space between operators and variables: e.g. a + b
  • Space after ","
  • Mind your commit titles/desc (plurals, he/she + "s", correct tags, title should begin by a verb...)
  • Function names should start with a verb, variable names should start with a name
  • Macros should be between {}
  • Do not use negative boolean (i.e. noJoe)
  • Check minimal size of the types (double -> float -> int -> uint)
  • Check const and ref in functions arguments
  • References should be written "type& name", not "type &name"
  • Update documentation if needed
  • Add MR labels [ROS]/[ROS2]/[PV]
  • If ros/ros2, update task table here
  • Add a comment over each non trivial function in header files
  • Add a header to each new file
Edited by Julia Sanchez

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