{"action":"created","comment":{"url":"https://api.github.com/repos/ethz-asl/ethzasl_msf/pulls/comments/22575701","id":22575701,"diff_hunk":"@@ -1,33 +1,72 @@\n+data_playback: true             # set to true when playback, false on the real system\n \n-data_playback: true\n+##############################\n+#########IMU PARAMETERS#######\n+##############################\n+# The imu measurement model used in msf contains two types of sensor errors, a fast additive white noise and \n+# a slower varying sensor bias.  \n+# See the following link for more information \n+# https://github.com/ethz-asl/kalibr/wiki/IMU-Noise-Model-and-Intrinsics\n+# \n+# The white noise is characterized with the continous time noise spectral density. \n+# The noise spectral density is sometime also refered to as noise density.\n+# The units of the noise spectral density are:\n+#  acc:  [m/s^2/sqrt(Hz)]\n+#  gyro: [rad/s/sqrt(Hz)]\n+# The noise spectral density can be found in the datasheet.\n+# \n+# The variation of the bias is characterized as a random walk. \n+# Again see https://github.com/ethz-asl/kalibr/wiki/IMU-Noise-Model-and-Intrinsics for more information\n+# The units of the random walk are:\n+#  acc:  [m/s^3/sqrt(Hz)]\n+#  gyro: [rad/s^2/sqrt(Hz)]\n+ \n+####### ADIS\n+core/core_noise_acc: 0.0022563    # [m/s^2/sqrt(Hz)] \n+core/core_noise_gyr: 0.0004       # [rad/s/sqrt(Hz)] \n \n core/core_fixed_bias: false\n+core/core_noise_accbias: 8e-5     # [m/s^3/sqrt(Hz)]\n+core/core_noise_gyrbias: 3e-6     # [rad/s^2/sqrt(Hz)]\n \n-#########IMU PARAMETERS#######\n-####### bluebird\n-core/core_noise_acc: 0.083\n-core/core_noise_accbias: 0.0083\n-core/core_noise_gyr: 0.0013\n-core/core_noise_gyrbias: 0.00013\n-####### ADIS\n-#core/core_noise_acc: 0.002\n-#core/core_noise_accbias: 8e-5\n-#core/core_noise_gyr: 0.0004\n-#core/core_noise_gyrbias: 3e-6\n+####### mpu6000\n+#core/core_noise_acc: 0.003924    # [m/s^2/sqrt(Hz)] mpu6000 datasheet\n+#core/core_noise_gyr: 0.00008726  # [rad/s/sqrt(Hz)    mpu6000 datasheet\n+\n+#core/core_fixed_bias: true\n+#core/core_noise_gyrbias: 0.0     # for fixed bias we do not need process noise\n+#core/core_noise_accbias: 0.0     # for fixed bias we do not need process noise\n \n+#######################################\n+#########Pose Sensor Parameters #######\n+#######################################\n+pose_sensor/pose_absolute_measurements: true\n+pose_sensor/pose_measurement_world_sensor: false  # selects if sensor measures its position w.r.t. world (true, e.g. Vicon) or the position of the world coordinate system w.r.t. the sensor (false, e.g. ethzasl_ptam\n+pose_sensor/pose_delay: 0.02                      # [s] delay of pose sensor w.r.t. imu\n+\n+# for the pose sensor noise levels use the std deviation the units are","path":"msf_updates/pose_sensor_fix.yaml","position":59,"original_position":59,"commit_id":"8fa92b52c71fbfe8cbb4bbb8f8bfecd38e62fdfc","original_commit_id":"8fa92b52c71fbfe8cbb4bbb8f8bfecd38e62fdfc","user":{"login":"simonlynen","id":966785,"avatar_url":"https://avatars.githubusercontent.com/u/966785?v=3","gravatar_id":"","url":"https://api.github.com/users/simonlynen","html_url":"https://github.com/simonlynen","followers_url":"https://api.github.com/users/simonlynen/followers","following_url":"https://api.github.com/users/simonlynen/following{/other_user}","gists_url":"https://api.github.com/users/simonlynen/gists{/gist_id}","starred_url":"https://api.github.com/users/simonlynen/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/simonlynen/subscriptions","organizations_url":"https://api.github.com/users/simonlynen/orgs","repos_url":"https://api.github.com/users/simonlynen/repos","events_url":"https://api.github.com/users/simonlynen/events{/privacy}","received_events_url":"https://api.github.com/users/simonlynen/received_events","type":"User","site_admin":false},"body":"Sentensify here and below","created_at":"2015-01-07T08:46:54Z","updated_at":"2015-01-07T08:46:54Z","html_url":"https://github.com/ethz-asl/ethzasl_msf/pull/94#discussion_r22575701","pull_request_url":"https://api.github.com/repos/ethz-asl/ethzasl_msf/pulls/94","_links":{"self":{"href":"https://api.github.com/repos/ethz-asl/ethzasl_msf/pulls/comments/22575701"},"html":{"href":"https://github.com/ethz-asl/ethzasl_msf/pull/94#discussion_r22575701"},"pull_request":{"href":"https://api.github.com/repos/ethz-asl/ethzasl_msf/pulls/94"}}},"pull_request":{"url":"https://api.github.com/repos/ethz-asl/ethzasl_msf/pulls/94","id":26943597,"html_url":"https://github.com/ethz-asl/ethzasl_msf/pull/94","diff_url":"https://github.com/ethz-asl/ethzasl_msf/pull/94.diff","patch_url":"https://github.com/ethz-asl/ethzasl_msf/pull/94.patch","issue_url":"https://api.github.com/repos/ethz-asl/ethzasl_msf/issues/94","number":94,"state":"open","locked":false,"title":"Fix/noise units","user":{"login":"flaviofontana","id":4038464,"avatar_url":"https://avatars.githubusercontent.com/u/4038464?v=3","gravatar_id":"","url":"https://api.github.com/users/flaviofontana","html_url":"https://github.com/flaviofontana","followers_url":"https://api.github.com/users/flaviofontana/followers","following_url":"https://api.github.com/users/flaviofontana/following{/other_user}","gists_url":"https://api.github.com/users/flaviofontana/gists{/gist_id}","starred_url":"https://api.github.com/users/flaviofontana/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/flaviofontana/subscriptions","organizations_url":"https://api.github.com/users/flaviofontana/orgs","repos_url":"https://api.github.com/users/flaviofontana/repos","events_url":"https://api.github.com/users/flaviofontana/events{/privacy}","received_events_url":"https://api.github.com/users/flaviofontana/received_events","type":"User","site_admin":false},"body":"Hi Simon \r\n\r\nI integrated your comments. Please have a look and let me know if I should change anything. Please double check the units on the imu bias random walk . \r\nif you agree I'd like to extend the viconpos_sensor_fix.yaml with the same comments. So that people following the tutorial will also have the comments available.\r\n\r\nflavio","created_at":"2015-01-07T08:25:20Z","updated_at":"2015-01-07T08:46:54Z","closed_at":null,"merged_at":null,"merge_commit_sha":"1d1a7a1ca7eea7980972aeb14a7f022657a0c647","assignee":null,"milestone":null,"commits_url":"https://api.github.com/repos/ethz-asl/ethzasl_msf/pulls/94/commits","review_comments_url":"https://api.github.com/repos/ethz-asl/ethzasl_msf/pulls/94/comments","review_comment_url":"https://api.github.com/repos/ethz-asl/ethzasl_msf/pulls/comments/{number}","comments_url":"https://api.github.com/repos/ethz-asl/ethzasl_msf/issues/94/comments","statuses_url":"https://api.github.com/repos/ethz-asl/ethzasl_msf/statuses/8fa92b52c71fbfe8cbb4bbb8f8bfecd38e62fdfc","head":{"label":"flaviofontana:fix/noise_units","ref":"fix/noise_units","sha":"8fa92b52c71fbfe8cbb4bbb8f8bfecd38e62fdfc","user":{"login":"flaviofontana","id":4038464,"avatar_url":"https://avatars.githubusercontent.com/u/4038464?v=3","gravatar_id":"","url":"https://api.github.com/users/flaviofontana","html_url":"https://github.com/flaviofontana","followers_url":"https://api.github.com/users/flaviofontana/followers","following_url":"https://api.github.com/users/flaviofontana/following{/other_user}","gists_url":"https://api.github.com/users/flaviofontana/gists{/gist_id}","starred_url":"https://api.github.com/users/flaviofontana/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/flaviofontana/subscriptions","organizations_url":"https://api.github.com/users/flaviofontana/orgs","repos_url":"https://api.github.com/users/flaviofontana/repos","events_url":"https://api.github.com/users/flaviofontana/events{/privacy}","received_events_url":"https://api.github.com/users/flaviofontana/received_events","type":"User","site_admin":false},"repo":{"id":28859062,"name":"ethzasl_msf","full_name":"flaviofontana/ethzasl_msf","owner":{"login":"flaviofontana","id":4038464,"avatar_url":"https://avatars.githubusercontent.com/u/4038464?v=3","gravatar_id":"","url":"https://api.github.com/users/flaviofontana","html_url":"https://github.com/flaviofontana","followers_url":"https://api.github.com/users/flaviofontana/followers","following_url":"https://api.github.com/users/flaviofontana/following{/other_user}","gists_url":"https://api.github.com/users/flaviofontana/gists{/gist_id}","starred_url":"https://api.github.com/users/flaviofontana/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/flaviofontana/subscriptions","organizations_url":"https://api.github.com/users/flaviofontana/orgs","repos_url":"https://api.github.com/users/flaviofontana/repos","events_url":"https://api.github.com/users/flaviofontana/events{/privacy}","received_events_url":"https://api.github.com/users/flaviofontana/received_events","type":"User","site_admin":false},"private":false,"html_url":"https://github.com/flaviofontana/ethzasl_msf","description":"MSF 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