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- ### ekf config file ###
- ekf_filter_node:
- ros__parameters:
- # The frequency, in Hz, at which the filter will output a position estimate. Note that the filter will not begin
- # computation until it receives at least one message from one of theinputs. It will then run continuously at the
- # frequency specified here, regardless of whether it receives more measurements. Defaults to 30 if unspecified.
- frequency: 30.0
- # ekf_localization_node and ukf_localization_node both use a 3D omnidirectional motion model. If this parameter is
- # set to true, no 3D information will be used in your state estimate. Use this if you are operating in a planar
- # environment and want to ignore the effect of small variations in the ground plane that might otherwise be detected
- # by, for example, an IMU. Defaults to false if unspecified.
- two_d_mode: false
- # Whether to publish the acceleration state. Defaults to false if unspecified.
- publish_acceleration: true
- # Whether to broadcast the transformation over the /tf topic. Defaultsto true if unspecified.
- publish_tf: true
- # 1. Set the map_frame, odom_frame, and base_link frames to the appropriate frame names for your system.
- # 1a. If your system does not have a map_frame, just remove it, and make sure "world_frame" is set to the value of odom_frame.
- # 2. If you are fusing continuous position data such as wheel encoder odometry, visual odometry, or IMU data, set "world_frame"
- # to your odom_frame value. This is the default behavior for robot_localization's state estimation nodes.
- # 3. If you are fusing global absolute position data that is subject to discrete jumps (e.g., GPS or position updates from landmark
- # observations) then:
- # 3a. Set your "world_frame" to your map_frame value
- # 3b. MAKE SURE something else is generating the odom->base_link transform. Note that this can even be another state estimation node
- # from robot_localization! However, that instance should *not* fuse the global data.
- map_frame: map # Defaults to "map" if unspecified
- odom_frame: odom # Defaults to "odom" if unspecified
- base_link_frame: base_footprint # Defaults to "base_link" ifunspecified
- world_frame: odom # Defaults to the value ofodom_frame if unspecified
- odom0: odom
- odom0_config: [true, true, true,
- false, false, false,
- false, false, false,
- false, false, true,
- false, false, false]
- imu0: imu
- imu0_config: [false, false, false,
- true, true, true,
- false, false, false,
- false, false, false,
- false, false, false]
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