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chore(ekf_localizer): move parameters to its dedicated yaml file (#3039)
* chores(ekf_localizer): move parameters to its dedicated yaml file Signed-off-by: Vincent Richard <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Vincent Richard <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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Original file line number | Diff line number | Diff line change |
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@@ -75,5 +75,6 @@ endif() | |
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ament_auto_package( | ||
INSTALL_TO_SHARE | ||
config | ||
launch | ||
) |
23 changes: 23 additions & 0 deletions
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localization/ekf_localizer/config/ekf_localizer.param.yaml
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Original file line number | Diff line number | Diff line change |
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@@ -0,0 +1,23 @@ | ||
/**: | ||
ros__parameters: | ||
show_debug_info: false | ||
enable_yaw_bias_estimation: True | ||
predict_frequency: 50.0 | ||
tf_rate: 50.0 | ||
extend_state_step: 50 | ||
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# for Pose measurement | ||
pose_additional_delay: 0.0 | ||
pose_measure_uncertainty_time: 0.01 | ||
pose_smoothing_steps: 5 | ||
pose_gate_dist: 10000.0 | ||
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# for twist measurement | ||
twist_additional_delay: 0.0 | ||
twist_smoothing_steps: 2 | ||
twist_gate_dist: 10000.0 | ||
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# for process model | ||
proc_stddev_yaw_c: 0.005 | ||
proc_stddev_vx_c: 10.0 | ||
proc_stddev_wz_c: 5.0 |
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