From 4015164862e27bb5c0d35e9c8a09d9d3b12bb3ee Mon Sep 17 00:00:00 2001 From: Jacob Date: Mon, 18 Sep 2023 00:06:29 -0500 Subject: [PATCH] Add doxygen deployment --- .doxyfile | 21 +- .github/workflows/documentation.yaml | 46 ++++ .gitignore | 3 +- .gitmodules | 6 + .vscode/tasks.json | 2 +- CITATION.cff | 2 +- README.md | 99 +------ TODO | 1 + config/example.yaml | 4 +- docs/doxygen/doxygen-awesome-css | 1 + docs/filter/multi-imu.md | 33 +-- .../example/body_acceleration_error.png | Bin 0 -> 92514 bytes .../example/body_position_covariance.png | Bin 0 -> 103260 bytes docs/images/example/imu_2_position.png | Bin 0 -> 135075 bytes docs/images/example/imu_2_residuals.png | Bin 0 -> 117617 bytes docs/index.md | 99 ------- docs/models.md | 7 + docs/models/camera.md | 4 + docs/models/clock.md | 4 + docs/models/gps.md | 4 + docs/models/imu.md | 4 + docs/software/coverage.md | 1 + docs/tutorial.md | 260 ++++++++++++++++++ 23 files changed, 375 insertions(+), 226 deletions(-) create mode 100644 .github/workflows/documentation.yaml create mode 100644 .gitmodules create mode 160000 docs/doxygen/doxygen-awesome-css create mode 100644 docs/images/example/body_acceleration_error.png create mode 100644 docs/images/example/body_position_covariance.png create mode 100644 docs/images/example/imu_2_position.png create mode 100644 docs/images/example/imu_2_residuals.png delete mode 100644 docs/index.md create mode 100644 docs/models.md create mode 100644 docs/models/camera.md create mode 100644 docs/models/clock.md create mode 100644 docs/models/gps.md create mode 100644 docs/models/imu.md create mode 100644 docs/tutorial.md diff --git a/.doxyfile b/.doxyfile index b4f64bb..75e7cfd 100644 --- a/.doxyfile +++ b/.doxyfile @@ -263,12 +263,6 @@ TAB_SIZE = 4 ALIASES = -# This tag can be used to specify a number of word-keyword mappings (TCL only). -# A mapping has the form "name=value". For example adding "class=itcl::class" -# will allow you to use the command class in the itcl::class meaning. - -TCL_SUBST = - # Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources # only. Doxygen will then generate output that is more tailored for C. For # instance, some of the names that are used will be different. The list of all @@ -829,7 +823,7 @@ WARN_LOGFILE = # spaces. See also FILE_PATTERNS and EXTENSION_MAPPING # Note: If this tag is empty the current directory is searched. -INPUT = include/ src/ docs/ +INPUT = src/ docs/ README.md # This tag can be used to specify the character encoding of the source files # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses @@ -917,7 +911,7 @@ RECURSIVE = YES # Note that relative paths are relative to the directory from which doxygen is # run. -EXCLUDE = +EXCLUDE = docs/doxygen/doxygen-awesome-css # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or # directories that are symbolic links (a Unix file system feature) are excluded @@ -1026,7 +1020,7 @@ FILTER_SOURCE_PATTERNS = # (index.html). This can be useful if you have a project on for instance GitHub # and want to reuse the introduction page also for the doxygen output. -USE_MDFILE_AS_MAINPAGE = +USE_MDFILE_AS_MAINPAGE = README.md #--------------------------------------------------------------------------- # Configuration options related to source browsing @@ -1154,13 +1148,6 @@ CLANG_DATABASE_PATH = ALPHABETICAL_INDEX = YES -# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in -# which the alphabetical index list will be split. -# Minimum value: 1, maximum value: 20, default value: 5. -# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. - -COLS_IN_ALPHA_INDEX = 5 - # In case all classes in a project start with a common prefix, all classes will # be put under the same header in the alphabetical index. The IGNORE_PREFIX tag # can be used to specify a prefix (or a list of prefixes) that should be ignored @@ -1246,7 +1233,7 @@ HTML_STYLESHEET = # list). For an example see the documentation. # This tag requires that the tag GENERATE_HTML is set to YES. -HTML_EXTRA_STYLESHEET = +HTML_EXTRA_STYLESHEET = docs/doxygen/doxygen-awesome-css/doxygen-awesome.css # The HTML_EXTRA_FILES tag can be used to specify one or more extra images or # other source files which should be copied to the HTML output directory. Note diff --git a/.github/workflows/documentation.yaml b/.github/workflows/documentation.yaml new file mode 100644 index 0000000..c2bb65f --- /dev/null +++ b/.github/workflows/documentation.yaml @@ -0,0 +1,46 @@ +name: Documentation + +on: + push: + branches: + - main + +jobs: + build-documentation: + runs-on: ubuntu-latest + steps: + - name: Checkout + uses: actions/checkout@v4 + with: + submodules: 'true' + - name: Count Lines of Code + uses: JHartzer/cloc-action@5.1 + with: + options: --exclude-lang=CSS,CSV,HTML,JavaScript,make,SVG,TeX --md --report-file=cloc.md + - name: Format and move cloc.md + run: | + echo -e 'Count Lines of Code {#cloc}\n============\n' > docs/software/cloc.md + cat cloc.md | tail -n +4 >> docs/software/cloc.md + sed -i 's/--------|--------|--------|--------|--------/| | | | | |/' docs/software/cloc.md + rm cloc.md + - name: Run Doxygen + uses: mattnotmitt/doxygen-action@1.9.5 + with: + doxyfile-path: .doxyfile + - name: Upload Artifact + uses: actions/upload-pages-artifact@v1 + with: + path: docs/doxygen/html + deploy-documentation: + needs: build-documentation + permissions: + pages: write + id-token: write + environment: + name: github-pages + url: ${{ steps.deployment.outputs.page_url }} + runs-on: ubuntu-latest + steps: + - name: Deploy to GitHub Pages + id: deployment + uses: actions/deploy-pages@v2 \ No newline at end of file diff --git a/.gitignore b/.gitignore index 0dc2786..298c661 100644 --- a/.gitignore +++ b/.gitignore @@ -3,5 +3,6 @@ */__pycache__/ # Generated Docs -docs/doxygen/ +docs/doxygen/html +docs/doxygen/latex docs/software/cloc.md \ No newline at end of file diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 0000000..c02dbce --- /dev/null +++ b/.gitmodules @@ -0,0 +1,6 @@ +[submodule "docs/doxygen/html/doxygen-awesome-css"] + path = docs/doxygen/html/doxygen-awesome-css + url = https://github.com/jothepro/doxygen-awesome-css.git +[submodule "docs/doxygen/doxygen-awesome-css"] + path = docs/doxygen/doxygen-awesome-css + url = https://github.com/jothepro/doxygen-awesome-css.git diff --git a/.vscode/tasks.json b/.vscode/tasks.json index 83ddf0c..9c5f71e 100644 --- a/.vscode/tasks.json +++ b/.vscode/tasks.json @@ -94,7 +94,7 @@ "label": "cloc", "detail": "Count Lines of Code", "type": "shell", - "command": "echo 'Count Lines of Code {#cloc}\n============\n\n' > docs/cloc.md && cloc . --exclude-lang=CSS,CSV,HTML,JavaScript,make,SVG,TeX --md | tail -n +5 >> docs/cloc.md && sed -i 's/--------|--------|--------|--------|--------/| | | | | |/' docs/cloc.md", + "command": "echo 'Count Lines of Code {#cloc}\n============' > docs/software/cloc.md && cloc . --exclude-lang=CSS,CSV,HTML,JavaScript,make,SVG,TeX --md | tail -n +4 >> docs/software/cloc.md && sed -i 's/--------|--------|--------|--------|--------/| | | | | |/' docs/software/cloc.md", "options": { "cwd": "${workspaceFolder}" }, diff --git a/CITATION.cff b/CITATION.cff index 62ccb34..a7e1e21 100644 --- a/CITATION.cff +++ b/CITATION.cff @@ -8,4 +8,4 @@ title: "EKF-CAL" version: 0.2.0 # doi: # date-released: -url: "https://github.com/JHartzer/ekf-cal" \ No newline at end of file +url: "https://github.com/unmannedlab/ekf-cal" \ No newline at end of file diff --git a/README.md b/README.md index b1fc3fd..cefcc73 100644 --- a/README.md +++ b/README.md @@ -1,94 +1,19 @@ # EKF_CAL +[![Documentation](https://github.com/unmannedlab/ekf-cal/actions/workflows/documentation.yaml/badge.svg)](https://github.com/unmannedlab/ekf-cal/actions/workflows/documentation.yaml) -Extended Kalman Filter - Calibration and Localization +Extended Kalman Filter Calibration and Localization: EKF-CAL is a package focused on the simulation +and development of a multi-sensor online calibration kalman filter. It combines the architecture of +a Multi-State Constraint Kalman Filter (MSCKF) with a multi-IMU calibration filter to provide +estimates of intrinsic and extrinsic sensor calibration parameters. -## Dependencies -The EKF_CAL package has the following hard dependencies that are required for all compilations: -- [OpenCV](https://opencv.org/) -- [Eigen 3](https://eigen.tuxfamily.org/index.php?title=Main_Page) - -The following dependencies are for building the ROS node and simulation, respectively -- [ROS2](https://docs.ros.org/en/rolling/index.html) -- [yaml-cpp](https://github.com/jbeder/yaml-cpp) - -The following soft dependencies useful for development and documentation -- [Doxygen](https://www.doxygen.nl/index.html) -- [Google Test](https://google.github.io/googletest/) - -These can be installed by running `rosdep` in the base directory of this repo -``` -rosdep install --from-paths src -y --ignore-src -``` - -## Build -Building can be done simply with the following command: - -``` -colcon build --symlink-install --packages-select ekf_cal -``` - -For full CMake support, the following environment variables are expected: -- PLANTUML_INSTALL_DIR -- ROS_DISTRO - -## Testing & Static Analysis -Once the package has been built, unit tests and static analysis can be run with the following commands -``` -colcon test --packages-select ekf_cal --event-handlers console_direct+ -``` - -A test code coverage report can be generated using the following commands -``` -colcon build --symlink-install --packages-select ekf_cal \ - --event-handlers console_cohesion+ \ - --cmake-args -DCMAKE_C_FLAGS='--coverage' -DCMAKE_CXX_FLAGS='--coverage' - -colcon test --packages-select ekf_cal --pytest-with-coverage \ - --pytest-args --cov-report=term --event-handlers console_direct+ - -colcon lcov-result --packages-select ekf_cal --filter '*_test.cpp' '*_main.cpp' -``` - -## Documentation -Documentation can be generated using the following command: -``` -doxygen .doxyfile -``` - -A single pdf can be generated of the documentation using the following command -``` -doxygen .doxyfile && cd docs/doxygen/latex && make -``` - -## Launch -For an example of a filter node launch file, see [example.launch.py](launch/example.launch.py) - -In particular, note the configuration file [example.yaml](config/example.yaml). - -The configuration file specifies which sensor topics should to use and the initialization values. - -## Simulations -Simulations can be run using a YAML configuration file that extends the base configuration file -with additional parameters. See the example [example.yaml](config/example.yaml). - -Multiple simulations can be run in parallel using the [run.py](eval/run.py). An example -using a single input is given below - -``` -python3 eval/run.py config/example.yaml -``` - -The results of a run can be plotted using [plot.py](eval/plot.py) -``` -python3 eval/plot.py config/example.yaml -``` - -To run and plot in sequence, utilize [evaluate.py](eval/evaluate.py) -``` -python3 eval/evaluate.py config/example.yaml -``` +For full documentation, please see below: +- [Github Repository](https://github.com/unmannedlab/ekf-cal/) +- [Documentation](https://unmannedlab.org/ekf-cal/) +- [Getting Started](https://unmannedlab.org/ekf-cal/tutorial.html) ## References 1. J. Hartzer and S. Saripalli, " Online Multi Camera-IMU Calibration", - IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2022 + IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2022. + [IEEE](https://doi.org/10.1109/SSRR56537.2022.10018692), + [arXiv](https://arxiv.org/abs/2209.13821) \ No newline at end of file diff --git a/TODO b/TODO index 89cf963..1442a88 100644 --- a/TODO +++ b/TODO @@ -17,6 +17,7 @@ Package Features: - Condition and distance thresholds - Check covariance matrix condition - Perfect prediction flag + - Add colcon build/test action to github GPS Updater: - LLA to NED calibration diff --git a/config/example.yaml b/config/example.yaml index 9ace959..ef9dacd 100644 --- a/config/example.yaml +++ b/config/example.yaml @@ -13,7 +13,7 @@ AngFrequency: [0.2, 0.3, 0.4] PosOffset: [0.0, 0.0, 0.0] NoErrors: False - NumberOfRuns: 10 + NumberOfRuns: 100 RunNumber: 0 IMU_list: @@ -51,7 +51,7 @@ vn100: UseForPrediction: False BaseSensor: False - Intrinsic: True + Intrinsic: False Rate: 100.0 Topic: "/vn100/imu_uncompensated" VarInit: [0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01] diff --git a/docs/doxygen/doxygen-awesome-css b/docs/doxygen/doxygen-awesome-css new file mode 160000 index 0000000..df83fbf --- /dev/null +++ b/docs/doxygen/doxygen-awesome-css @@ -0,0 +1 @@ +Subproject commit df83fbf22cfff76b875c13d324baf584c74e96d0 diff --git a/docs/filter/multi-imu.md b/docs/filter/multi-imu.md index 3c8da54..c23f6a0 100644 --- a/docs/filter/multi-imu.md +++ b/docs/filter/multi-imu.md @@ -1,21 +1,18 @@ Multi-IMU Filtering {#multi-imu} ============ - -\begin{equation} \label{eq:pred_measurement} - \begin{split} - &\boldsymbol{h}(\boldsymbol{x}_{b}) = \\ - &\begin{bmatrix} - \mathcal{C}(\prescript{B}{I_i}{q})^T - \left( - \mathcal{C}(\prescript{G}{B}{q})^T \boldsymbol{a} + - \boldsymbol{\alpha} \times \prescript{B}{}{\boldsymbol{p}}_{I_i} + - \boldsymbol{\omega} \times \boldsymbol{\omega} \times \prescript{B}{}{\boldsymbol{p}}_{I_i} - \right) - \\ - \mathcal{C}(\prescript{B}{I_i}{q})^T - \mathcal{C}(\prescript{G}{B}{q})^T - \boldsymbol{\omega} - \end{bmatrix} - \end{split} -\end{equation} +\f{align}{ +\boldsymbol{h}(\boldsymbol{x}_{b}) = +\begin{bmatrix} + \mathcal{C}(\prescript{B}{I_i}{q})^T + \left( + \mathcal{C}(\prescript{G}{B}{q})^T \boldsymbol{a} + + \boldsymbol{\alpha} \times \prescript{B}{}{\boldsymbol{p}}_{I_i} + + \boldsymbol{\omega} \times \boldsymbol{\omega} \times \prescript{B}{}{\boldsymbol{p}}_{I_i} + \right) + \\ + \mathcal{C}(\prescript{B}{I_i}{q})^T + \mathcal{C}(\prescript{G}{B}{q})^T + \boldsymbol{\omega} +\end{bmatrix} +\f} diff --git a/docs/images/example/body_acceleration_error.png b/docs/images/example/body_acceleration_error.png new file mode 100644 index 0000000000000000000000000000000000000000..1535202fb61d9347727749e593a2cfbeea6bfee9 GIT binary patch literal 92514 zcmdSBRahLs8ZC+i_YhnXED7!s+}$053{PxVyUy!C~;hT~5#5 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z9<&%n)1h|+wfOSm^0Kk_cb~|N(%M?r@JbKR9eb*v5b;t{4RC+@>m&yhm>$x2?nsm; zQhaI=jKiVW|ICNf-A{62zUv>lA)m>{^SY+<%=&;&HqaP>a>xtt%vpt}Y+9eWB!ic! z_WWniE9P!~x!R>iU$b^!yrT(nKPW8$Q;lptgKNWn`A+HU7eqT zSUke((F{3MLbYN*E^_v`DHLjq_kS8gzt_et5m`PU@f9knTo2A_O#np>qy&H41Mu#Y z&hh{VLQTQ?1xnXMcdD +@todo Automatically generate this using github actions \endhtmlonly \ No newline at end of file diff --git a/docs/tutorial.md b/docs/tutorial.md new file mode 100644 index 0000000..0d3e3d8 --- /dev/null +++ b/docs/tutorial.md @@ -0,0 +1,260 @@ +Getting Started {#tutorial} +============ + + +# Dependencies +The EKF_CAL package has the following hard dependencies that are required for all compilations: +- [OpenCV](https://opencv.org/) +- [Eigen 3](https://eigen.tuxfamily.org/index.php?title=Main_Page) + +The following dependencies are for building the ROS node and simulation, respectively +- [ROS2](https://docs.ros.org/en/rolling/index.html) +- [yaml-cpp](https://github.com/jbeder/yaml-cpp) + +The following soft dependencies useful for development and documentation +- [Doxygen](https://www.doxygen.nl/index.html) +- [Google Test](https://google.github.io/googletest/) + +These can be installed by running `rosdep` in the base directory of this repo +``` +rosdep install --from-paths src -y --ignore-src +``` + +# Build + +Building can be done simply with the following command: + +``` +colcon build --symlink-install --packages-select ekf_cal +``` + +For full CMake support, the following environment variables are expected: +- PLANTUML_INSTALL_DIR +- ROS_DISTRO + + +# Input Files + +This repository offers two main ways to utilize the Kalman filter framework: a simulation and ROS2 node. +Both the simulation and ROS node are configurable and runnable using identically formatted YAML +files. The basic structure of the YAML files is a set of ROS parameters, lists that define the +sensors to use, and the sensor definitions themselves. The top-level of the YAML is the definition +of the node name `/EkfCalNode` and a ROS2-specific implementation for `ros__parameters`. Structuring +the yaml in this way allows the node to utilize these parameters. The `SimParams` section includes +parameters that are only relevant to the simulation. + +```YAML +/EkfCalNode: + ros__parameters: + Debug_Log_Level: 2 # Debug_Log_Level: + # 1: FATAL + # 2: ERROR + # 3: WARN + # 4: INFO + # 5: DEBUG + Data_Logging_On: True # Flag to enable data logging + Body_Data_Rate: 100.0 # EKF body data logging rate + SimParams: + Seed: 0.0 # Seed to provide to random number generator + UseSeed: True # Flag to use seed (required for deterministic runs) + MaxTime: 10.0 # Maximum simulation time + TruthType: "Cyclic" # TruthType: + # "Cyclic" + # "Spline" - Not yet implemented + PosFrequency: [0.3, 0.5, 0.7] # Cyclic position frequencies + AngFrequency: [0.2, 0.3, 0.4] # Cyclic angular frequencies + PosOffset: [0.0, 0.0, 0.0] # Position offset for cyclic position + NoErrors: False # Flag to disable errors + NumberOfRuns: 10 # Number of runs for Multi-Threaded Simulation + RunNumber: 0 # Start run number (also used to initialize seed) +``` + +Sensors and parameters can be dynamically declared with a bit of tomfoolery. To achieve this, we +must read from a known list to the declare and read unknown lists. Therefore, the following lists +must exist, but can be empty. These define the parameter sections for each of their respective +categories. + +```YAML +/EkfCalNode: + ros__parameters: + + ... + + IMU_list: # List can be empty, but is required to exist + - "example_imu" + + Camera_list: # List can be empty, but is required to exist + - "example_cam" + + Tracker_list: # List can be empty, but is required to exist + - "ORB" +``` + +The following is an example of an IMU input configuration. + +```YAML +/EkfCalNode: + ros__parameters: + + ... + + IMU: + example_imu: + UseForPrediction: False # Flag to use IMU in the prediction step of filter + BaseSensor: True # Flag to use IMU frame as base body frame + Intrinsic: False # Flag to calibrate IMU intrinsics + Rate: 400.0 # Update rate + Topic: "/example_imu" # ROS topic + # Initial variance + VarInit: [0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01] + PosOffInit: [0.0, 0.0, 0.0] # Initial position offset estimate + AngOffInit: [1.0, 0.0, 0.0, 0.0] # Initial angular offset estimate + AccBiasInit: [0.0, 0.0, 0.0] # Initial accelerometer bias estimate + OmgBiasInit: [0.0, 0.0, 0.0] # Initial gyroscope bias estimate + SimParams: + timeBias: 0.0 # Measurement time bias + timeSkew: 0.0 # Measurement time skew + timeError: 1.0e-6 # Measurement time error + accBias: [0.0, 0.0, 0.0] # True accelerometer bias + accError: [1.0e-3, 1.0e-3, 1.0e-3] # Accelerometer error + omgBias: [0.0, 0.0, 0.0] # True gyroscope bias + omgError: [1.0e-2, 1.0e-2, 1.0e-2] # Gyroscope error + posOffset: [0.0, 0.0, 0.0] # True position offset + angOffset: [1.0, 0.0, 0.0, 0.0] # True angular offset +``` + +The following is an example of an camera input configuration. + +```YAML +/EkfCalNode: + ros__parameters: + + ... + + Camera: + example_cam: + Rate: 20.0 # Sensor rate + Topic: "/example_cam" # ROS Topic + PosOffInit: [0.0, 0.0, 0.0] # Initial position offset estimate + AngOffInit: [0.5, -0.5, 0.5, -0.5] # Initial angular offset estimate + VarInit: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1] # Initial variance + Tracker: "ORB" # Tracker to use + SimParams: + timeBias: 0.0 # Measurement time bias + timeSkew: 0.0 # Measurement time skew + timeError: 1.0e-6 # Measurement time error + posOffset: [0.0, 0.0, 0.0] # True position offset + angOffset: [0.5, -0.5, 0.5, -0.5] # True angular offset +``` + +The following is an example of a tracker input configuration. + +```YAML +/EkfCalNode: + ros__parameters: + + ... + + Tracker: + ORB: + FeatureDetector: 4 # Feature Detector: + # 0: BRISK + # 1: FAST, + # 2: GFTT, + # 3: MSER, + # 4: ORB, + # 5: SIFT, + DescriptorExtractor: 0 # Descriptor Extractor: + # 0: ORB + # 1: SIFT + DescriptorMatcher: 0 # DescriptorMatcher: + # 0: BRUTE_FORCE + # 1: FLANN + DetectorThreshold: 10.0 # Threshold used for detection (if available) + PixelError: 1.0 # Average pixel error + SimParams: + featureCount: 100 # Total number of trackable features + roomSize: 10.0 # Maximum distance of features +``` + + + +# Simulation + +Simulations can be run using a YAML configuration file that extends the base configuration file +with additional parameters. See the example [example.yaml](config/example.yaml). +Multiple simulations can be run in parallel using the [run.py](eval/run.py). An example +using a single input is given below + +``` +python3 eval/run.py config/example.yaml +``` + +The results of a run can be plotted using [plot.py](eval/plot.py) +``` +python3 eval/plot.py config/example.yaml +``` + +To run and plot in sequence, utilize [evaluate.py](eval/evaluate.py) +``` +python3 eval/evaluate.py config/example.yaml +``` + +This will generate and run the requested number of simulation runs for the specified run time and +produce plots of the Monte Carlo data. Examples of the resulting plots are shown below: + + +![body_acceleration_error](../../images/example/body_acceleration_error.png) + +![body_acceleration_error](../../images/example/body_position_covariance.png) + +![body_acceleration_error](../../images/example/imu_2_residuals.png) + +![body_acceleration_error](../../images/example/imu_2_position.png) + + +# Launch ROS2 Node + +For an example of a filter node launch file, see [example.launch.py](launch/example.launch.py) + +In particular, note the configuration file [example.yaml](config/example.yaml). + +The configuration file specifies which sensor topics should to use and the initialization values. +Once built, the ROS node can be started by running the following command + +``` +ros2 launch example.launch +``` + + +# Documentation + +Documentation can be generated using the following command: +``` +doxygen .doxyfile +``` + +A single pdf can be generated of the documentation using the following command +``` +doxygen .doxyfile && cd docs/doxygen/latex && make +``` + + +# Testing & Static Analysis + +Once the package has been built, unit tests and static analysis can be run with the following commands +``` +colcon test --packages-select ekf_cal --event-handlers console_direct+ +``` + +A test code coverage report can be generated using the following commands +``` +colcon build --symlink-install --packages-select ekf_cal \ + --event-handlers console_cohesion+ \ + --cmake-args -DCMAKE_C_FLAGS='--coverage' -DCMAKE_CXX_FLAGS='--coverage' + +colcon test --packages-select ekf_cal --pytest-with-coverage \ + --pytest-args --cov-report=term --event-handlers console_direct+ + +colcon lcov-result --packages-select ekf_cal --filter '*_test.cpp' '*_main.cpp' +```