landmarks_calibration_amcl.yaml 994 Bytes
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rate: 20.0
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global_frame: "map"
odom_frame: "adc_car/odom"
base_link_frame: "adc_car/base_link"
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tf_timeout: 0.2
old_feature_timeout: 0.5
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amcl_pose_estimated_sigma: 0.25
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publish_pose_rate: 0.001
publish_pose_distance: 0.1
publish_pose_angle: 0.1

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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
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update_problem_rate: 0.001
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update_problem_distance: 0.07
update_problem_angle: 0.07
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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: -1

landmarks_candidates_filter_en: True
landmark_mahalanobis_dist: 3.5
landmarks_min_detections: 4
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landmarks_filter_orientation_en: True
landmarks_orientation_th: 0.4
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sensor_sigma_r: 0.2
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sensor_sigma_th: 0.3
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odom_fxy: 0.1
odom_fth: 0.15
odom_fxyth: 0.25
odom_sigma_min: 0.000001