landmarks_calibration_amcl.yaml

rate: 20.0
global_frame: "map"
odom_frame: "adc_car/odom"
base_link_frame: "adc_car/base_link"
tf_timeout: 0.2
old_feature_timeout: 0.5
amcl_pose_estimated_sigma: 0.25
publish_pose_rate: 0.001
publish_pose_distance: 0.1
publish_pose_angle: 0.1

publish_visualization: True
load_landmarks: True
landmarks_pos_fixed: False
search_for_new_landmarks: False
first_robot_state_estimated: False
last_robot_state_estimated: False
all_robot_states_estimated: True
amcl_localization: True
calculate_covariance: False
publish_tf_map_odom: False

update_problem_rate: 0.001
update_problem_distance: 0.07
update_problem_angle: 0.07
update_problem_features_detected: 3
wait_feature_detected_timeout: 0.2
problem_frame_window: -1

landmarks_candidates_filter_en: True
landmark_mahalanobis_dist: 3.5
landmarks_min_detections: 4
landmarks_filter_orientation_en: True
landmarks_orientation_th: 0.4

sensor_sigma_r: 0.2
sensor_sigma_th: 0.3

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