adc_car_global_ekf.yaml 1.53 KB
Newer Older
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
frequency: 30
sensor_timeout: 1.0
transform_time_offset: 0.0
two_d_mode: true
print_diagnostics: true
debug: false
debug_out_file: /tmp/debug_ekf_localization.txt
use_control: false

publish_tf: true
map_frame: map
odom_frame: adc_car/odom
base_link_frame: adc_car/base_footprint
world_frame: map

odom0: /adc_car/odom
odom0_config: [false, false, false,
               false, false, false,
               true,  true,  false,
               false, false, true,
               false, false, false]

imu0: /adc_car/sensors/imu_enu
imu0_config: [false, false, false,
              false, false, true,
              false, false, false,
              false, false, true,
              true,  false, false]

imu0_differential: false
imu0_relative: false
imu0_remove_gravitational_acceleration: true

pose0: /adc_car/amcl_pose
pose0_config: [true, true, false,
               false, false, true,
               false, false, false,
               false, false, false,
               false, false, false]
pose0_differential: false
#pose0_relative: false
#pose0_queue_size: 5
#pose0_rejection_threshold: 2  # Note the difference in parameter name
#pose0_nodelay: false

#odom1: /adc_car/visual_odometry
#odom1_config: [false, false, false,
               #false, false, false,
               #true,  true,  false,
               #false, false, true,
               #false, false, false]

#meaning_config: [x,     y,      z,
#                 roll,  pitch,  yaw,
#                 vx,    vy,     vz,
#                 vroll, vpitch, vyaw,
#                 ax,    ay,     az]