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- # For parameter descriptions, please refer to the template parameter files for each node.
- ekf_filter_node_odom:
- ros__parameters:
- frequency: 30.0
- two_d_mode: true # Recommended to use 2d mode for nav2 in mostly planar environments
- publish_acceleration: false
- #print_diagnostics: true
- debug: false
- publish_tf: true
- map_frame: map
- odom_frame: odom
- base_link_frame: base_footprint # the frame id used by the turtlebot's diff drive plugin
- world_frame: map #odom
- odom0: /throttled_odom #/odom
- odom0_config: [false, false, false,
- false, false, false,
- true, false, false,
- false, false, false,
- false, false, false]
- odom0_differential: false
- odom0_nodelay: true
- odom0_relative: false
- odom0_queue_size: 10
- imu0: /imu
- imu0_config: [false, false, false,
- false, false, true,
- false, false, false,
- false, false, true,
- false, false, false]
- 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
- imu0_nodelay: true
- imu0_relative: false
- imu0_queue_size: 10
- imu0_remove_gravitational_acceleration: true
- use_control: false
- 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,
- 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,
- 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,
- 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,
- 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,
- 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,
- 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,
- 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,
- 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,
- 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,
- 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,
- 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,
- 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,
- 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,
- 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]
- ekf_filter_node_map:
- ros__parameters:
- use_sim_time: true
- sensor_timeout: 0.1
- transform_time_offset: 0.0
- transform_timeout: 0.0
- frequency: 30.0
- two_d_mode: false #true # Recommended to use 2d mode for nav2 in mostly planar environments
- #print_diagnostics: true
- publish_acceleration: false
- debug: false
- publish_tf: true
- reset_on_time_jump: true
- map_frame: map
- odom_frame: odom
- base_link_frame: base_footprint # the frame id used by the turtlebot's diff drive plugin
- world_frame: map
- odom0: /odometry/local # = "fused odometry + Imu in previous node"
- odom0_config: [false, false, false,
- true, true, true,
- true, true, true,
- true, true, true,
- false, false, false]
- odom0_queue_size: 10
- odom0_nodelay: true
- 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
- odom0_relative: false
- odom1: gps #odometry/gps # try gps if not fix
- odom1_config: [false, false, false,
- false, false, false,
- true, true, true,
- false, false, true,
- false, false, false]
- odom1_queue_size: 10
- odom1_nodelay: true
- odom1_differential: false
- odom1_relative: false
- use_control: false
- 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,
- 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,
- 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,
- 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,
- 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,
- 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,
- 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,
- 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,
- 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,
- 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,
- 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,
- 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,
- 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,
- 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,
- 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]
- navsat_transform:
- ros__parameters:
- use_sim_time: true
- frequency: 30.0
- delay: 3.0
- magnetic_declination_radians: 0.0 #0.266512
- yaw_offset: 0.0
- zero_altitude: true
- broadcast_utm_transform: true
- publish_filtered_gps: true
- use_odometry_yaw: false #true
- wait_for_datum: false #true
- #datum: [38.161491, -122.4546443, 0.0] # pre-set datum if needed, [lat, lon, yaw]
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