X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Frobot_localization.yaml;h=404986785e40370908419e4dec5ce26d7f7b884e;hp=630e24d2822f96dc2f687b31710232a1722c4026;hb=HEAD;hpb=f9cd8e0e872fdc7157c322d15dab71b0290d7633 diff --git a/config/robot_localization.yaml b/config/robot_localization.yaml index 630e24d..4049867 100644 --- a/config/robot_localization.yaml +++ b/config/robot_localization.yaml @@ -64,6 +64,7 @@ imu0_queue_size: 10 # 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. +# odom # x/y not included because of redundancy with velocities # vyaw not included in odom because too inaccurate odom0_config: [false, false, false, @@ -71,6 +72,7 @@ odom0_config: [false, false, false, true, true, true, false, false, true, false, false, false] +# gps odom1_config: [true, true, false, false, false, false, false, false, false, @@ -118,7 +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 @@ -129,8 +131,8 @@ dynamic_process_noise_covariance: true # process_noise_covariance diagonal value for the variable in question, which will cause the filter's predicted error # to be larger, which will cause the filter to trust the incoming measurement more during correction. The values are # ordered as x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. -process_noise_covariance: [0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, +process_noise_covariance: [2.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 2.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, @@ -144,3 +146,23 @@ process_noise_covariance: [0.5, 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"