API tools faq
paste
Advertisement
Guest User

real_bot_navsat_params.yaml

a guest
May 14th, 2024
110
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 7.96 KB | None | 0 0
raw download clone embed print report
  1. # For parameter descriptions, please refer to the template parameter files for each node.
  2.  
  3. ekf_filter_node_odom:
  4. ros__parameters:
  5. frequency: 30.0
  6. two_d_mode: true # Recommended to use 2d mode for nav2 in mostly planar environments
  7. publish_acceleration: false
  8. #print_diagnostics: true
  9. debug: false
  10. publish_tf: true
  11.  
  12. map_frame: map
  13. odom_frame: odom
  14. base_link_frame: base_footprint # the frame id used by the turtlebot's diff drive plugin
  15. world_frame: map #odom
  16.  
  17. odom0: /odom
  18. odom0_config: [false, false, false,
  19. false, false, false,
  20. true, false, false,
  21. false, false, false,
  22. false, false, false]
  23. odom0_differential: false
  24. odom0_nodelay: true
  25. odom0_relative: false
  26. odom0_queue_size: 10
  27.  
  28. imu0: /imu
  29. imu0_config: [false, false, false,
  30. false, false, true,
  31. false, false, false,
  32. false, false, true,
  33. false, false, false]
  34. imu0_differential: false # If using a real robot you might want to set this to true, since usually absolute measurements from real imu's are not very accurate
  35. imu0_nodelay: true
  36. imu0_relative: false
  37. imu0_queue_size: 10
  38. imu0_remove_gravitational_acceleration: true
  39.  
  40. use_control: false
  41.  
  42. process_noise_covariance: [1e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
  43. 0.0, 1e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
  44. 0.0, 0.0, 1e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
  45. 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
  46. 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
  47. 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
  48. 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
  49. 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
  50. 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
  51. 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0,
  52. 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0,
  53. 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0,
  54. 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0,
  55. 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0,
  56. 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1]
  57.  
  58. ekf_filter_node_map:
  59. ros__parameters:
  60. use_sim_time: false
  61. sensor_timeout: 0.1
  62. transform_time_offset: 0.0
  63. transform_timeout: 0.0
  64. frequency: 30.0
  65. two_d_mode: false #true # Recommended to use 2d mode for nav2 in mostly planar environments
  66. #print_diagnostics: true
  67. publish_acceleration: false
  68. debug: false
  69. publish_tf: true
  70. reset_on_time_jump: true
  71.  
  72. map_frame: map
  73. odom_frame: odom
  74. base_link_frame: base_footprint # the frame id used by the turtlebot's diff drive plugin
  75. world_frame: map
  76.  
  77. odom0: /odometry/local # = "fused odometry + Imu in previous node"
  78. odom0_config: [false, false, false,
  79. true, true, true,
  80. true, true, true,
  81. true, true, true,
  82. false, false, false]
  83. odom0_queue_size: 10
  84. odom0_nodelay: true
  85. odom0_differential: false #imu # If using a real robot you might want to set this to true, since usually absolute measurements from real imu's are not very accurate
  86. odom0_relative: false
  87.  
  88. imu0: /imu
  89. imu0_config: [false, false, false,
  90. false, false, false,
  91. false, false, false,
  92. false, false, false,
  93. false, false, false]
  94. imu0_differential: false
  95. imu0_nodelay: false
  96. imu0_relative: false
  97. imu0_queue_size: 10
  98. imu0_remove_gravitational_acceleration: true
  99.  
  100.  
  101. odom1: gps #real_gps/fix #odometry/gps # try gps if not fix
  102. odom1_config: [false, false, false,
  103. false, false, false,
  104. true, true, true,
  105. false, false, true,
  106. false, false, false]
  107. odom1_queue_size: 10
  108. odom1_nodelay: true
  109. odom1_differential: false
  110. odom1_relative: false
  111.  
  112.  
  113. use_control: false
  114.  
  115. process_noise_covariance: [1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
  116. 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
  117. 0.0, 0.0, 1e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
  118. 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
  119. 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
  120. 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
  121. 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
  122. 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
  123. 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
  124. 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0,
  125. 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0,
  126. 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0,
  127. 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0,
  128. 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0,
  129. 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1]
  130.  
  131. navsat_transform:
  132. ros__parameters:
  133. use_sim_time: false
  134. frequency: 30.0
  135. delay: 3.0
  136. magnetic_declination_radians: 0.0 #0.266512
  137. yaw_offset: 0.0
  138. zero_altitude: true
  139. broadcast_utm_transform: true
  140. publish_filtered_gps: true
  141. use_odometry_yaw: false #true
  142. wait_for_datum: false #true
  143. datum: [-23.66, -46.59, 0.0] # pre-set datum if needed, [lat, lon, yaw]
  144.  
  145.  
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement
Public Pastes
Advertisement
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!