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Adding Realism to Simulated Sensor Data #310

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chrischang5 opened this issue Oct 21, 2023 · 1 comment · Fixed by #311 · May be fixed by UBCSailbot/boat_simulator#75
Closed
2 tasks done

Adding Realism to Simulated Sensor Data #310

chrischang5 opened this issue Oct 21, 2023 · 1 comment · Fixed by #311 · May be fixed by UBCSailbot/boat_simulator#75
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@chrischang5
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chrischang5 commented Oct 21, 2023 •
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Purpose

Tasks the progress of development of error generation classes or functionality. The high-level details are outlined on confluence.

Noise (error) and delay will be added to any data that is output from sensors and published to ROS2 topics. The data that will be impacted by noise and delay is listed here on confluence.

This is representative of real sensors just having occasional spikes in readings or delays in readings when they simply don't update for a short period of time.

Tasks

Noise Generation

Delay Generation
@chrischang5 chrischang5 added the tasklist Issue tracker label Oct 21, 2023
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chrischang5 commented Nov 4, 2023 •
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We want the Sensor to be responsible for only sensing data and applying noise and delay then sending the data elsewhere for it to be sent over a ROS topic.

Noise will come from distribution (specific to each type of data). It could be multivariate, univariate, or constant. Generator classes help generate this noise.

I learned that delay is a function of the Sensors and not the act of publishing. The delay is caused by sensors not updating their values immediately. The impact on the design is that delay generation is part of the Sensor class.

@chrischang5 chrischang5 mentioned this issue Feb 25, 2024
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@patrick-5546 patrick-5546 added the sim Boat Simulator team label Mar 9, 2024
@DFriend01 DFriend01 transferred this issue from UBCSailbot/boat_simulator Mar 10, 2024
@DFriend01 DFriend01 mentioned this issue Mar 10, 2024
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@github-project-automation github-project-automation bot moved this to Backlog in SOFT Project Mar 10, 2024
@github-project-automation github-project-automation bot moved this from Backlog to Done in SOFT Project Mar 19, 2024
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