localization.yaml 864 Bytes
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rate: 200.0
global_frame: "map"
odom_frame: "adc_car/odom"
base_link_frame: "adc_car/base_link"
tf_timeout: 0.1
publish_pose_rate: 0.001
publish_pose_distance: 0.1
publish_pose_angle: 0.1

publish_visualization : True
load_landmarks : True
landmarks_pos_fixed : True
search_for_new_landmarks : False
first_robot_state_fixed : False
last_robot_state_fixed : False
all_robot_states_fixed : False
amcl_localization : False
calculate_covariance : True
publish_tf_map_odom : True

update_problem_rate: 0.1
update_problem_distance: 0.2
update_problem_angle: 0.1
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update_problem_features_detected: 3
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wait_feature_detected_timeout: 0.2
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problem_frame_window: 60

landmarks_candidates_filter_en: True
landmark_mahalanobis_dist: 3.5
landmarks_min_detections: 4

sensor_sigma_r: 0.2
sensor_sigma_th: 0.15

odom_fxy: 0.1
odom_fth: 0.15
odom_fxyth: 0.25
odom_sigma_min: 0.000001