Config file

############### IMU sensor #################
imu:
  pos: [0., 0., 0.] # IMU position in body frame
  ori: [0., 0., 0., 1.] # IMU orientation in body frame
  accel_bias: [0., 0., 0.] # accelerometer biases
  gyro_bias: [0., 0., 0.] # gyroscope biases
  accel_cov: [6.7e-04, 6.7e-04, 6.7e-04] # accelerometer noise 
  gyro_cov: [5.15e-05, 5.15e-05, 5.15e-05] # gyroscope noise
  accel_bias_cov: [9.99e-04, 9.99e-04, 9.99e-04] # accelerometer bias noise
  gyro_bias_cov: [4.99e-06, 4.99e-06, 4.99e-06] # gyroscope bias noise
  update_rate: 200

################## Ultrawideband #######################
uwb:
  mobile_list: ["mobile_node"]
  # This is the position of the tag with name "mobile_node"
  # in body frame
  mobile_node:
    pos: [-0.15, -0.006,  0.164] #in meters
  #
  anchor_list: ["anchor_0",
    "anchor_1",
    "anchor_2",
    "anchor_3",
    "anchor_4",
    "anchor_5",
    "anchor_6",
    "anchor_7"]
  #
  anchor_blacklist: []
  #
  # These are the positions of anchors with respect 
  # to world frame
  #
  anchor_0:
    pos: [-3.020,-4.057, 0.1760] #in meters
    cov: 0.0025
    bias: 0.0

  anchor_1:
    pos: [-3.240, 3.695, 2.9096]
    cov: 0.0064
    bias: 0.0

  anchor_2:
    pos: [ 3.670, 3.718, 0.1796]
    cov: 0.0025
    bias: 0.0

  anchor_3: 
    pos: [ 3.500,-3.982, 3.0033]
    cov: 0.081
    bias: 0.0

  anchor_4:
    pos: [-2.802,-4.139, 2.8196]
    cov: 0.0049
    bias: 0.0

  anchor_5:
    pos: [ 3.942,-3.779, 0.1735]
    cov: 0.0025
    bias: 0.0

  anchor_6:
    pos: [ 3.487, 3.539, 2.9596]
    cov: 0.0049
    bias: 0.0

  anchor_7:
    pos: [-3.195, 3.311, 0.1753]
    cov: 0.0025
    bias: 0.0

############### VIO sensor #################
# Positoin and orientation of odometry sensor in body frame
# and noise parameters of odometry sensor
vio:
  pos: [0.02, 0.01, -0.035] # x, y, z (m) sensor extrinsic position 
  ori: [0.000, 0.174, 0.000, 0.985] # qx, qy, qz, qw sensor extrinsic orientation
  cov: [0.000035, 0.000035, 0.000035, 0.000035, 0.000035, 0.000035]
  update_rate: 200