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chore(ekf_localizer): move parameters to its dedicated yaml file #3039

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merged 5 commits into from
Mar 22, 2023
Merged

chore(ekf_localizer): move parameters to its dedicated yaml file #3039

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86c95b0
chores(ekf_localizer): move parameters to its dedicated yaml file
VRichardJP Mar 9, 2023
1ff0e7b
style(pre-commit): autofix
pre-commit-ci[bot] Mar 9, 2023
bb67069
Merge branch 'main' into move_ekf_params
VRichardJP Mar 16, 2023
1a9ce06
Merge branch 'main' into move_ekf_params
VRichardJP Mar 20, 2023
afadeb9
Merge branch 'main' into move_ekf_params
VRichardJP Mar 22, 2023
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1 change: 1 addition & 0 deletions launch/tier4_localization_launch/launch/localization.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
<arg name="random_downsample_filter_param_path"/>
<arg name="ndt_scan_matcher_param_path"/>
<arg name="localization_error_monitor_param_path"/>
<arg name="ekf_localizer_param_path"/>
<arg name="pose_initializer_param_path"/>
<arg name="pose_initializer_common_param_path"/>

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6 changes: 1 addition & 5 deletions ...4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
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Expand Up @@ -2,9 +2,6 @@
<launch>
<group>
<include file="$(find-pkg-share ekf_localizer)/launch/ekf_localizer.launch.xml">
<arg name="enable_yaw_bias_estimation" value="true"/>
<arg name="tf_rate" value="50.0"/>
<arg name="twist_smoothing_steps" value="2"/>
<arg name="input_initial_pose_name" value="/initialpose3d"/>
<arg name="input_pose_with_cov_name" value="/localization/pose_estimator/pose_with_covariance"/>
<arg name="input_twist_with_cov_name" value="/localization/twist_estimator/twist_with_covariance"/>
Expand All @@ -15,8 +12,7 @@
<arg name="output_biased_pose_with_covariance_name" value="biased_pose_with_covariance"/>
<arg name="output_twist_name" value="twist"/>
<arg name="output_twist_with_covariance_name" value="twist_with_covariance"/>
<arg name="proc_stddev_vx_c" value="10.0"/>
<arg name="proc_stddev_wz_c" value="5.0"/>
<arg name="param_file" value="$(var ekf_localizer_param_path)"/>
</include>
</group>

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1 change: 1 addition & 0 deletions localization/ekf_localizer/CMakeLists.txt
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Expand Up @@ -75,5 +75,6 @@ endif()

ament_auto_package(
INSTALL_TO_SHARE
config
launch
)
23 changes: 23 additions & 0 deletions localization/ekf_localizer/config/ekf_localizer.param.yaml
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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

# for Pose measurement
pose_additional_delay: 0.0
pose_measure_uncertainty_time: 0.01
pose_smoothing_steps: 5
pose_gate_dist: 10000.0

# for twist measurement
twist_additional_delay: 0.0
twist_smoothing_steps: 2
twist_gate_dist: 10000.0

# for process model
proc_stddev_yaw_c: 0.005
proc_stddev_vx_c: 10.0
proc_stddev_wz_c: 5.0
44 changes: 4 additions & 40 deletions localization/ekf_localizer/launch/ekf_localizer.launch.xml
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@@ -1,30 +1,12 @@
<launch>
<arg name="show_debug_info" default="false"/>
<arg name="enable_yaw_bias_estimation" default="True"/>
<arg name="predict_frequency" default="50.0"/>
<arg name="tf_rate" default="10.0"/>
<arg name="extend_state_step" default="50"/>
<arg name="param_file" default="$(find-pkg-share ekf_localizer)/config/ekf_localizer.param.yaml"/>

<arg name="input_initial_pose_name" default="initialpose3d"/>
<arg name="input_trigger_node_service_name" default="trigger_node" description="trigger node service"/>

<!-- for Pose measurement -->
<!-- input topic name -->
<arg name="input_pose_with_cov_name" default="in_pose_with_covariance"/>
<arg name="pose_additional_delay" default="0.0"/>
<arg name="pose_measure_uncertainty_time" default="0.01"/>
<arg name="pose_smoothing_steps" default="5"/>
<arg name="pose_gate_dist" default="10000.0"/>

<!-- for twist measurement -->
<arg name="input_twist_with_cov_name" default="in_twist_with_covariance"/>
<arg name="twist_additional_delay" default="0.0"/>
<arg name="twist_smoothing_steps" default="2"/>
<arg name="twist_gate_dist" default="10000.0"/>

<!-- for process model -->
<arg name="proc_stddev_yaw_c" default="0.005"/>
<arg name="proc_stddev_vx_c" default="5.0"/>
<arg name="proc_stddev_wz_c" default="1.0"/>

<!-- output topic name -->
<arg name="output_odom_name" default="ekf_odom"/>
Expand All @@ -45,32 +27,14 @@

<param name="pose_frame_id" value="map"/>

<param name="show_debug_info" value="$(var show_debug_info)"/>
<param name="enable_yaw_bias_estimation" value="$(var enable_yaw_bias_estimation)"/>

<param name="predict_frequency" value="$(var predict_frequency)"/>
<param name="tf_rate" value="$(var tf_rate)"/>
<param name="extend_state_step" value="$(var extend_state_step)"/>

<param name="pose_additional_delay" value="$(var pose_additional_delay)"/>
<param name="pose_measure_uncertainty_time" value="$(var pose_measure_uncertainty_time)"/>
<param name="pose_smoothing_steps" value="$(var pose_smoothing_steps)"/>
<param name="pose_gate_dist" value="$(var pose_gate_dist)"/>

<param name="twist_additional_delay" value="$(var twist_additional_delay)"/>
<param name="twist_smoothing_steps" value="$(var twist_smoothing_steps)"/>
<param name="twist_gate_dist" value="$(var twist_gate_dist)"/>

<param name="proc_stddev_yaw_c" value="$(var proc_stddev_yaw_c)"/>
<param name="proc_stddev_vx_c" value="$(var proc_stddev_vx_c)"/>
<param name="proc_stddev_wz_c" value="$(var proc_stddev_wz_c)"/>

<remap from="ekf_odom" to="$(var output_odom_name)"/>
<remap from="ekf_pose" to="$(var output_pose_name)"/>
<remap from="ekf_pose_with_covariance" to="$(var output_pose_with_covariance_name)"/>
<remap from="ekf_biased_pose" to="$(var output_biased_pose_name)"/>
<remap from="ekf_biased_pose_with_covariance" to="$(var output_biased_pose_with_covariance_name)"/>
<remap from="ekf_twist" to="$(var output_twist_name)"/>
<remap from="ekf_twist_with_covariance" to="$(var output_twist_with_covariance_name)"/>

<param from="$(var param_file)"/>
</node>
</launch>