robot_localization: Set process noise covariance for absolute x/y (gps

pos) to 2.5m

diff --git a/config/robot_localization.yaml b/config/robot_localization.yaml
index 630e24d2822f96dc2f687b31710232a1722c4026..193db56d9bc9a43f05244cbc86e69c5416311e8d 100644 (file)
--- a/config/robot_localization.yaml
+++ b/config/robot_localization.yaml
@@ -129,8 +129,8 @@ 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,

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 1d304d83fa92c5b29eafa7b27e2848e3eb3c0b29..7c9eece0a416734d801eed7af272a39bbbc163cb 100644 (file)
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -22,7 +22,7 @@
                <param name="enable_odom_tf" value="false" if="$(arg use_imu)"/>
        </node>
 
-       <node pkg="wild_thumper" type="tinkerforge_imu2.py" name="tinkerforge_imu_brick2" output="screen">
+       <node pkg="wild_thumper" type="tinkerforge_imu2.py" name="tinkerforge_imu_brick2" output="screen" if="$(arg use_imu)">
                <param name="uid" value="6DdNSn"/>
        </node>