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- frequency: 50
- sensor_timeout: 1
- two_d_mode: false
- transform_time_offset: 0.0
- transform_timeout: 0.0
- print_diagnostics: true
- debug: true
- debug_out_file: /path/to/debug/file.txt
- publish_tf: true
- publish_acceleration: false
- map_frame: map
- odom_frame: odom
- base_link_frame: base_link
- world_frame: odom
- #Imu sensor 1
- imu0: /raw_imu_2_very_good
- imu0_config: [false, false, false,
- true, true, true,
- false, false, false,
- true, true, true,
- true, true, true]
- imu0_nodelay: false
- imu0_differential: true
- imu0_relative: true
- imu0_queue_size: 5
- imu0_pose_rejection_threshold: 1000
- imu0_twist_rejection_threshold: 1000
- imu0_linear_acceleration_rejection_threshold: 1000
- imu0_remove_gravitational_acceleration: true
- imu1: /raw_imu_2_good
- imu1_config: [false, false, false,
- true, true, true,
- false, false, false,
- true, true, true,
- true, true, true]
- imu1_nodelay: false
- imu1_differential: false
- imu1_relative: false
- imu1_queue_size: 5
- imu1_pose_rejection_threshold: 1000
- imu1_twist_rejection_threshold: 1000
- imu1_linear_acceleration_rejection_threshold: 1000
- imu1_remove_gravitational_acceleration: true
- # Odometry gps feedback
- odom0: odometry/gps
- odom0_config: [true, true, true,
- false, false, false,
- false, false, false,
- false, false, false,
- false, false, false]
- odom0_differential: false
- odom0_relative: false
- odom0_queue_size: 2
- odom0_pose_rejection_threshold: 20000
- odom0_twist_rejection_threshold: 200000
- odom0_nodelay: false
- use_control: false
- stamped_control: true
- control_timeout: 0.2
- control_config: [true, false, false, true, true, true]
- acceleration_limits: [1000, 1000, 1000, 1000, 1000, 1000]
- deceleration_limits: [1000, 1000, 1000, 1000, 1000, 1000]
- acceleration_gains: [1000, 1000, 1000, 1000, 1000, 1000]
- deceleration_gains: [1000, 1000, 1000, 1000, 1000, 1000]
- process_noise_covariance: [0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
- 0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
- 0, 0, 0.6, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
- 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
- 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
- 0, 0, 0, 0, 0, 0.6, 0, 0, 0, 0, 0, 0, 0, 0, 0,
- 0, 0, 0, 0, 0, 0, 0.25, 0, 0, 0, 0, 0, 0, 0, 0,
- 0, 0, 0, 0, 0, 0, 0, 0.25, 0, 0, 0, 0, 0, 0, 0,
- 0, 0, 0, 0, 0, 0, 0, 0, 0.4, 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, 0.1, 0, 0, 0, 0,
- 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.2, 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, 0.1, 0,
- 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.15]
- initial_estimate_covariance: [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
- 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
- 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
- 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
- 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
- 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0,
- 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0,
- 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0,
- 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0,
- 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0,
- 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0,
- 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0,
- 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0,
- 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0,
- 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9]
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