asr_vosk: Allow to handle keyword and command in one sentence

[ros_wild_thumper.git] / config / robot_localization.yaml

diff --git a/config/robot_localization.yaml b/config/robot_localization.yaml
index 82d5fff34d9f547cfc3d0a57e069803e1242ec56..404986785e40370908419e4dec5ce26d7f7b884e 100644 (file)
--- a/config/robot_localization.yaml
+++ b/config/robot_localization.yaml
@@ -120,7 +120,7 @@ imu0_remove_gravitational_acceleration: true
 # 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
+# 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
 
@@ -146,3 +146,23 @@ process_noise_covariance: [2.5,  0,    0,    0,    0,    0,    0,     0,     0,
                            0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0.01, 0,    0,
                            0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0.01, 0,
                            0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0.015]
+
+#initial_estimate_covariance: [0.0082783,   0.00015023,  0,           0,           0,           1.4766e-22,  0.0056327,   -0.0038416,  0,           0,           0,           1.863e-22,   0.0031683,   -0.0021608,  0,
+#                              0.00015023,  0.010788,    0,           0,           0,           -3.5314e-22, 0.0038418,   0.0056329,   0,           0,           0,           -4.4555e-22, 0.0021611,   0.0031687,   0,
+#                              0,           0,           0.0018072,   3.2715e-24,  1.5934e-23,  0,           0,           0,           0.0054835,   8.4669e-24,  4.1238e-23,  0,           0,           0,           0.00033362,
+#                              0,           0,           3.2715e-24,  0.00044495,  -6.2008e-49, 0,           0,           0,           -1.2846e-33, 0.0013386,   -7.0886e-35, 0,           0,           0,           -4.1097e-35,
+#                              0,           0,           1.5934e-23,  -6.2142e-49, 0.00044495,  0,           0,           0,           -6.2545e-33, 7.0886e-35,  0.0013386,   0,           0,           0,           -2.0009e-34,
+#                              1.4766e-22,  -3.5314e-22, 0,           0,           0,           0.006296,    -2.6304e-31, 2.1336e-30,  0,           0,           0,           0.0091462,   -4.0833e-31, 3.3122e-30,  0,
+#                              0.0056327,   0.0038418,   0,           0,           0,           -2.6304e-31, 0.023382,    1.2088e-09,  0,           0,           0,           -1.8639e-30, 0.011984,    1.8766e-09,  0,
+#                              -0.0038416,  0.0056329,   0,           0,           0,           2.1336e-30,  1.2088e-09,  0.023382,    0,           0,           0,           1.3775e-29,  1.8766e-09,  0.011984,    0,
+#                              0,           0,           0.0054835,   -1.2846e-33, -6.2545e-33, 0,           0,           0,           0.023656,    1.265e-37,   6.1588e-37,  0,           0,           0,           0.0020076,
+#                              0,           0,           8.4669e-24,  0.0013386,   7.0886e-35,  0,           0,           0,           1.265e-37,   0.005748,    -6.135e-57,  0,           0,           0,           4.0468e-39,
+#                              0,           0,           4.1238e-23,  -7.0886e-35, 0.0013386,   0,           0,           0,           6.1588e-37,  -6.135e-57,  0.005748,    0,           0,           0,           1.9703e-38,
+#                              1.863e-22,   -4.4555e-22, 0,           0,           0,           0.0091462,   -1.8639e-30, 1.3775e-29,  0,           0,           0,           0.01982,     -2.8935e-30, 2.1383e-29,  0,           
+#                              0.0031683,   0.0021611,   0,           0,           0,           -4.0833e-31, 0.011984,    1.8766e-09,  0,           0,           0,           -2.8935e-30, 0.022337,    2.9131e-09,  0,
+#                              -0.0021608,  0.0031687,   0,           0,           0,           3.3122e-30,  1.8766e-09,  0.011984,    0,           0,           0,           2.1383e-29,  2.9131e-09,  0.022337,    0,           
+#                              0,           0,           0.00033362,  -4.1097e-35, -2.0009e-34, 0,           0,           0,           0.0020076,   4.0468e-39,  1.9703e-38,  0,           0,           0,           0.0086215]
+#
+#
+#debug: true
+#debug_out_file: "/tmp/log.txt"