From 3f3329b34715a239358868351317d27ea17bd423 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Fri, 29 Sep 2017 18:24:42 +0200
Subject: [PATCH] robot_localization: Set process noise covariance for absolute
 x/y (gps pos) to 2.5m

---
 config/robot_localization.yaml | 4 ++--
 launch/wild_thumper.launch     | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/config/robot_localization.yaml b/config/robot_localization.yaml
index 630e24d..193db56 100644
--- 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 1d304d8..7c9eece 100644
--- 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>
 
-- 
2.39.2