Pose noise

This modifier allows to simulate Gaussian noise for pose measurements. If the variable orientation exists, it is taken to be a unit quaternion and noise added to it. Otherwise rotational noise will be added to the roll, pitch and yaw variables.

Files

  • Python: $MORSE_ROOT/src/morse/modifiers/pose_noise.py

Modified data

It modifies so the following variables :

  • x: add Gaussian noise with std dev pos_std (default: 0.05)
  • y: add Gaussian noise with std dev pos_std (default: 0.05)
  • z: add Gaussian noise with std dev pos_std (default: 0.05)
  • orientation: assumed to be a unit quaternion and multiplied with a noise quaternion with std dev ros_std (default: 5 degrees)
  • roll: add Gaussian noise with std dev rot_std (default: 5 deg)
  • pitch: add Gaussian noise with std dev rot_std (default: 5 deg)
  • yaw: add Gaussian noise with std dev rot_std (default: 5 deg)

Available methods

  • noisify: Simulate noise for translation and rotation of a pose measurement.

By passing a dictionary with pos_std and/or rot_std the applied noise can be configured.

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