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feat(localization_error_monitor): update parameter #5201
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kminoda
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Oct 2, 2023
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feat(localization_error_monitor): update parameter #5201
kminoda
merged 2 commits into
autowarefoundation:main
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kminoda:feat/localization_error_monitor/update_parameter
Oct 2, 2023
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Signed-off-by: kminoda <[email protected]>
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Vehicle's position determination in its environment. (auto-assigned)
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Codecov ReportAll modified lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #5201 +/- ##
==========================================
+ Coverage 14.77% 14.79% +0.01%
==========================================
Files 1636 1636
Lines 113635 113541 -94
Branches 34932 34877 -55
==========================================
+ Hits 16793 16795 +2
+ Misses 78001 77912 -89
+ Partials 18841 18834 -7
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Labels
component:localization
Vehicle's position determination in its environment. (auto-assigned)
tag:run-build-and-test-differential
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Description
Update parameter.
Current Autoware's EKF may ignore low velocity depending on the zero band of its sensor, making the localization error covariance larger. With this update, we can suppress such warnings with the default value, improving the usability for OSS users. Note that it is always recommended to tune the parameters for each vehicle.
autowarefoundation/autoware_launch#614
Tests performed
Tested on pilot-auto.x2
Effects on system behavior
Threshold of localization_accuracy gets larger.
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