Updated config files

config/amcl_mapping.yaml

@@ -2,6 +2,7 @@ rate: 20.0
 global_frame: "map"
 odom_frame: "adc_car/odom"
 base_link_frame: "adc_car/base_link"
+opendrive_frame: "opendrive"
 tf_timeout: 0.2
 old_feature_timeout: 0.5
 amcl_pose_estimated_sigma: 0.25
@@ -34,8 +35,8 @@ landmarks_filter_orientation_en: True
 landmarks_orientation_th: 0.4
 landmarks_xodr_scale: 10.0
 
-sensor_sigma_r: 0.2
-sensor_sigma_th: 0.3
+sensor_sigma_r: 0.1
+sensor_sigma_th: 0.15
 
 odom_fxy: 0.1
 odom_fth: 0.15

config/landmarks_calibration.yaml

@@ -2,6 +2,7 @@ rate: 20.0
 global_frame: "map"
 odom_frame: "adc_car/odom"
 base_link_frame: "adc_car/base_link"
+opendrive_frame: "opendrive"
 tf_timeout: 0.2
 old_feature_timeout: 0.5
 amcl_pose_estimated_sigma: 0.25

config/landmarks_calibration_amcl.yaml

@@ -2,6 +2,7 @@ rate: 20.0
 global_frame: "map"
 odom_frame: "adc_car/odom"
 base_link_frame: "adc_car/base_link"
+opendrive_frame: "opendrive"
 tf_timeout: 0.2
 old_feature_timeout: 0.5
 amcl_pose_estimated_sigma: 0.25

config/localization.yaml

@@ -2,6 +2,7 @@ rate: 20.0
 global_frame: "map"
 odom_frame: "adc_car/odom"
 base_link_frame: "adc_car/base_link"
+opendrive_frame: "opendrive"
 tf_timeout: 0.2
 old_feature_timeout: 0.5
 amcl_pose_estimated_sigma: 0.25

config/slam_mapping.yaml

@@ -2,6 +2,7 @@ rate: 20.0
 global_frame: "map"
 odom_frame: "adc_car/odom"
 base_link_frame: "adc_car/base_link"
+opendrive_frame: "opendrive"
 tf_timeout: 0.2
 old_feature_timeout: 0.5
 amcl_pose_estimated_sigma: 0.25