[SYSID] [Inertia Params] identify inertial params

[Li-Jinjie]

What is this

This PR creates a Python script in aerial_robot_model to identify the inertial parameters through a bifilar pendulum.

Details

Identify procedure:

1. Attach the robot to a bifilar pendulum
2. Rotate it along the vertical axis
3. Use MoCap to estimate state, and use rosbag to save the COG data
4. Measure parameters of the bifilar pendulum
5. Tell the path-to-rosbag to the script and calculate the inertial parameters

References

Illustration[1]:

[1] Jardin, M. R., & Mueller, E. R. (2009). Optimized measurements of unmanned-air-vehicle mass moment of inertia with a bifilar pendulum. Journal of Aircraft, 46(3), 763-775. https://arc.aiaa.org/doi/pdf/10.2514/1.34015?casa_token=dom1d5BAn60AAAAA:SkbCZghJUzekcf76gs5DknBlDma-fsfKBvik972DRVOOp30d-q4yhUvg0yFs4_J_aD6c3pODfqOh

[tongtybj]

@Li-Jinjie

Can you also share the command to run your script, and also the procedure (or picture) to setup the identification system.

[Li-Jinjie]

@Li-Jinjie

Can you also share the command to run your script, and also the procedure (or picture) to setup the identification system.

OK, I will take a picture on Monday.