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fix(ekf_localizer): correct the initialization of accumulated_delay_times to obtain accurate computation of delay_time #5821
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TaikiYamada4
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TaikiYamada4:fix/correct_accumulated_delay_times_
Dec 8, 2023
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…ep is computed accurately. Signed-off-by: TaikiYamada4 <[email protected]>
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Vehicle's position determination in its environment. (auto-assigned)
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fix(ekf_localizer): Correct the initialization of accumulated_delay_times to obtain accurate computation of delay_time
fix(ekf_localizer): correct the initialization of accumulated_delay_times to obtain accurate computation of delay_time
Dec 8, 2023
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…imes to obtain accurate computation of delay_time (autowarefoundation#5821) Correct accumulated_delay_times in ekf_localizer so that the delay_step is computed accurately. Signed-off-by: TaikiYamada4 <[email protected]>
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…imes to obtain accurate computation of delay_time (autowarefoundation#5821) Correct accumulated_delay_times in ekf_localizer so that the delay_step is computed accurately. Signed-off-by: TaikiYamada4 <[email protected]> Signed-off-by: karishma <[email protected]>
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…imes to obtain accurate computation of delay_time (autowarefoundation#5821) Correct accumulated_delay_times in ekf_localizer so that the delay_step is computed accurately. Signed-off-by: TaikiYamada4 <[email protected]> Signed-off-by: karishma <[email protected]>
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…imes to obtain accurate computation of delay_time (autowarefoundation#5821) Correct accumulated_delay_times in ekf_localizer so that the delay_step is computed accurately. Signed-off-by: TaikiYamada4 <[email protected]>
karishma1911
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…imes to obtain accurate computation of delay_time (autowarefoundation#5821) Correct accumulated_delay_times in ekf_localizer so that the delay_step is computed accurately. Signed-off-by: TaikiYamada4 <[email protected]>
karishma1911
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May 28, 2024
…imes to obtain accurate computation of delay_time (autowarefoundation#5821) Correct accumulated_delay_times in ekf_localizer so that the delay_step is computed accurately. Signed-off-by: TaikiYamada4 <[email protected]>
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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
In the recent PR of ekf localizer, a new variable
accumulated_delay_times_
have been introduced so that the calculation ofdelay_step
inupdateMeasurementPose/Twist()
will not be distorted when the timer callback has unintended time periods.However, the initialization of thefirst element of
accumulated_delay_times_
wasekf_dt
seconds large while it should zero, which leads to a computation error ofdelay_step
that will be one step earlier.This PR should fix that.
Tests performed
Tested and worked well in the rosbag replay simulation tutorial.
Also, tested with TIER IV internal rosbags too.
Effects on system behavior
A few millimeters of localization error proportional to the twist will be relieved.
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