From: Erik Andresen Date: Sun, 16 Jul 2017 09:20:13 +0000 (+0200) Subject: Move robot_localization.launch contents to yaml file X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=2211b9a871c413ff7e704ca4600dc38fb65369ec;p=ros_wild_thumper.git Move robot_localization.launch contents to yaml file --- diff --git a/config/robot_localization.yaml b/config/robot_localization.yaml new file mode 100644 index 0000000..ca599f9 --- /dev/null +++ b/config/robot_localization.yaml @@ -0,0 +1,115 @@ +# The frequency, in Hz, at which the filter will output a position estimate. Note that +# the filter will not begin computation until it receives at least one message from +# one of the inputs. It will then run continuously at the frequency specified here, +# regardless of whether it receives more measurements. Defaults to 30 if unspecified. +frequency: 20 + +# The period, in seconds, after which we consider a sensor to have timed out. In this event, we +# carry out a predict cycle on the EKF without correcting it. This parameter can be thought of +# as the minimum frequency with which the filter will generate new output. Defaults to 1 / frequency +# if not specified. +#sensor_timeout: 0.1 + +# If this is set to true, no 3D information will be used in your state estimate. Use this if you +# are operating in a planar environment and want to ignore the effect of small variations in the +# ground plane that might otherwise be detected by, for example, an IMU. Defaults to false if +# unspecified. +two_d_mode: true + +# REP-105 (http://www.ros.org/reps/rep-0105.html) specifies three principal coordinate frames: map, +# odom, and base_link. base_link is the coordinate frame that is affixed to the robot. The robot's +# position in the odom frame will drift over time, but is accurate in the short term and should be +# continuous. The odom frame is therefore the best frame for executing local motion plans. The map +# frame, like the odom frame, is a world-fixed coordinate frame, and while it contains the most +# globally accurate position estimate for your robot, it is subject to discrete jumps, e.g., due to +# the fusion of GPS data. Here is how to use the following settings: +# 1. Set the map_frame, odom_frame, and base_link frames to the appropriate frame names for your system. +# * If your system does not have a map_frame, just remove it, and make sure "world_frame" is set +# to the value of odom_frame. +# 2. If you are fusing continuous position data such as wheel encoder odometry, visual odometry, or IMU data, +# set "world_frame" to your odom_frame value. This is the default behavior for robot_localization's state +# estimation nodes. +# 3. If you are fusing global absolute position data that is subject to discrete jumps (e.g., GPS or position +# updates from landmark observations) then: +# 3a. Set your "world_frame" to your map_frame value +# 3b. MAKE SURE something else is generating the odom->base_link transform. Note that this can even be +# another instance of robot_localization! However, that instance should *not* fuse the global data. +# Defaults to "map" if unspecified +map_frame: map +# Defaults to "odom" if unspecified +odom_frame: odom +# Defaults to "base_link" if unspecified +base_link_frame: base_footprint +# Defaults to the value of "odom_frame" if unspecified +world_frame: odom + +# Use this parameter to provide an offset to the transform generated by ekf_localization_node. This +# can be used for future dating the transform, which is required for interaction with some other +# packages. Defaults to 0.0 if unspecified. +#transform_time_offset: 0.0 + +# The filter accepts an arbitrary number of inputs from each input message type (Odometry, PoseStamped, +# TwistStamped, Imu). To add a new one, simply append the next number in the sequence to its base name, +# e.g., odom0, odom1, twist0, twist1, imu0, imu1, imu2, etc. The value should be the topic name. These +# parameters obviously have no default values, and must be specified. +odom0: odom +imu0: imu +imu0_queue_size: 10 + +# Each sensor reading updates some or all of the filter's state. These options give you greater control over +# which values from each measurement are fed to the filter. For example, if you have an odometry message as input, +# but only want to use its Z position value, then set the entire vector to false, except for the third entry. +# The order of the values is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Note that not some +# message types lack certain variables. For example, a TwistWithCovarianceStamped message has no pose information, so +# the first six values would be meaningless in that case. Each vector defaults to all false if unspecified, effectively +# making this parameter required for each sensor. +# x/y not included because of redundancy with velocities +# vyaw not included in odom because too inaccurate +odom0_config: [false, false, false, + false, false, false, + true, true, true, + false, false, true, + false, false, false] +imu0_config: [false, false, false, + true, true, true, + false, false, false, + false, false, false, + false, false, false] + +# The best practice for including new sensors in robot_localization's state estimation nodes is to pass in velocity +# measurements and let the nodes integrate them. However, this isn't always feasible, and so the state estimation +# nodes support fusion of absolute measurements. If you have more than one sensor providing absolute measurements, +# however, you may run into problems if your covariances are not large enough, as the sensors will inevitably +# diverge from one another, causing the filter to jump back and forth rapidly. To combat this situation, you can +# either increase the covariances for the variables in question, or you can simply set the sensor's differential +# parameter to true. When differential mode is enabled, all absolute pose data is converted to velocity data by +# differentiating the absolute pose measurements. These velocities are then integrated as usual. NOTE: this only +# applies to sensors that provide absolute measurements, so setting differential to true for twit measurements has +# no effect. +# +# Users should take care when setting this to true for orientation variables: if you have only one source of +# absolute orientation data, you should not set the differential parameter to true. This is due to the fact that +# integration of velocities leads to slowly increasing error in the absolute (pose) variable. For position variables, +# this is acceptable. For orientation variables, it can lead to trouble. Users should make sure that all orientation +# variables have at least one source of absolute measurement. +odom0_differential: false +imu0_differential: false + +# When the node starts, if this parameter is true, then the first measurement is treated as a "zero point" for all +# future measurements. While you can achieve the same effect with the differential paremeter, the key difference is +# that the relative parameter doesn't cause the measurement to be converted to a velocity before integrating it. If +# you simply want your measurements to start at 0 for a given sensor, set this to true. +odom0_relative: false +imu0_relative: false + +# If we're including accelerations in our state estimate, then we'll probably want to remove any acceleration that +# is due to gravity for each IMU. If you don't want to, then set this to false. Defaults to false if unspecified. +imu0_remove_gravitational_acceleration: true + +# If you're having trouble, try setting this to true, and then echo the /diagnostics_agg topic to see +# if the node is unhappy with any settings or data. +print_diagnostics: true + +# If true, will dynamically scale the process_noise_covariance based on the robot?s velocity. This is useful, e.g., when you want your +# robots estimate error covariance to stop growing when the robot is stationary. Defaults to false. +dynamic_process_noise_covariance: true diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch index 5d90cad..8736acc 100644 --- a/launch/wild_thumper.launch +++ b/launch/wild_thumper.launch @@ -24,25 +24,13 @@ - - - - - - - - - - - - - - - + + +