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  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. # 1. Set the map_frame, odom_frame, and base_link frames to the appropriate frame names for your system.
  13. # 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.
  14. # 2. If you are fusing continuous position data such as wheel encoder odometry, visual odometry, or IMU data, set "world_frame"
  15. # to your odom_frame value. This is the default behavior for robot_localization's state estimation nodes.
  16. # 3. If you are fusing global absolute position data that is subject to discrete jumps (e.g., GPS or position updates from landmark
  17. # observations) then:
  18. # 3a. Set your "world_frame" to your map_frame value
  19. # 3b. MAKE SURE something else is generating the odom->base_link transform. Note that this can even be another state estimation node
  20. #
  21.  
  22.  
  23. map_frame: map
  24. odom_frame: odom
  25. base_link_frame: base_footprint # the frame id used by the turtlebot's diff drive plugin
  26. world_frame: map #odom # it seemst that for GPS this is how must be used : https://robotics.stackexchange.com/questions/101504/robot-localization-not-publishing-odom-base-link
  27.  
  28. odom0: /odom
  29. odom0_config: [false, false, false, # Position X, Y, Z
  30. false, false, false, # Orientation roll, pitch, yaw (only yaw is used)
  31. true, false, false, # Velocity X dot, Y dot, Z dot
  32. false, false, false, # Angular Velocity roll dot, pitch dot, yaw dot
  33. false, false, false] # Acceleration X double dot, Y double dot, Z double dot
  34. odom0_differential: false # Typically false for odometry, as it's usually more accurate.
  35. odom0_nodelay: true # Ignore delays in the odometry data.
  36. odom0_relative: false
  37. odom0_queue_size: 100
  38.  
  39. imu0: /imu
  40. imu0_config: [false, false, false, # Position X, Y, Z
  41. false, false, true, # Orientation roll, pitch, yaw (only yaw is used)
  42. false, false, false, # Velocity X dot, Y dot, Z dot
  43. false, false, true, # Angular Velocity roll dot, pitch dot, yaw dot
  44. false, false, false] # Acceleration X double dot, Y double dot, Z double dot
  45. imu0_differential: true # Set to true for real robot IMU data due to typical inaccuracies.
  46. # 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
  47. imu0_nodelay: true # Ignore delays in the imu data.
  48. imu0_relative: false
  49. imu0_queue_size: 100
  50. imu0_remove_gravitational_acceleration: true
  51.  
  52. use_control: false
  53.  
  54. process_noise_covariance: [1e-2, 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,
  55. 0.0, 1e-2, 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,
  56. 0.0, 0.0, 1e-2, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
  57. 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,
  58. 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,
  59. 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,
  60. 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,
  61. 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,
  62. 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,
  63. 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,
  64. 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,
  65. 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,
  66. 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,
  67. 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,
  68. 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]
  69.  
  70. ekf_filter_node_map:
  71. ros__parameters:
  72. use_sim_time: false
  73. sensor_timeout: 0.25 # Typical value: 0.1-0.5 seconds. Tolerance for sensor synchronization.
  74. transform_time_offset: 0.0 # Typical value: 0.0 seconds. Time offset for transforms.
  75. transform_timeout: 0.25 # Typical value: 0.1-0.5 seconds. Time to wait for a transform.
  76. frequency: 30.0
  77. two_d_mode: false #true # Recommended to use 2d mode for nav2 in mostly planar environments
  78. #print_diagnostics: true
  79. publish_acceleration: false
  80. debug: false
  81. publish_tf: true
  82. reset_on_time_jump: false
  83.  
  84. map_frame: map
  85. odom_frame: odom
  86. base_link_frame: base_footprint # the frame id used by the turtlebot's diff drive plugin
  87. world_frame: map
  88.  
  89. odom0: /odom #/odometry/local # = "fused odometry + Imu in previous node"
  90. odom0_config: [true, true, false, # Position X, Y, Z
  91. false, false, false, # Orientation roll, pitch, yaw (only yaw is used)
  92. true, false, false, # Velocity X dot, Y dot, Z dot
  93. false, false, false, # Angular Velocity roll dot, pitch dot, yaw dot
  94. false, false, false] # Acceleration X double dot, Y double dot, Z double dot
  95. odom0_queue_size: 100
  96. odom0_nodelay: true
  97. odom0_differential: false # Typically false for odometry, as it's usually more accurate.
  98. odom0_relative: false
  99.  
  100. imu0: /imu
  101. imu0_config: [false, false, false, # Position X, Y, Z
  102. false, false, true, # Orientation roll, pitch, yaw (only yaw is used)
  103. false, false, false, # Velocity X dot, Y dot, Z dot
  104. false, false, false, # Angular Velocity roll dot, pitch dot, yaw dot
  105. false, false, false] # Acceleration X double dot, Y double dot, Z double dot
  106. imu0_differential: true # Set to true for real robot IMU data due to typical inaccuracies.
  107. imu0_nodelay: false # Ignore delays in the imu data.
  108. imu0_relative: false
  109. imu0_queue_size: 100
  110. imu0_remove_gravitational_acceleration: true
  111.  
  112.  
  113. #O problema esta aqui, o gazebo publica gps namespace, porém ele deve poder englobar diferentes tipos de dados (Odometry) e também receber o (NavSatFix). Já quando eu uso real_gps/fix aqui
  114. #Eu envio apeans NavSatFix, mas não tenho um namespace para receber outros tipos de mensagens que vem da Fusão anterior (odometry/local) que o ekf_filter_node_odom está entregaando.
  115.  
  116. odom1: odometry/gps # try gps if not fix
  117. odom1_config: [true, true, false, # Position X, Y, Z
  118. false, false, false, # Orientation roll, pitch, yaw (only yaw is used)
  119. false, false, false, # Velocity X dot, Y dot, Z dot
  120. false, false, false, # Angular Velocity roll dot, pitch dot, yaw dot
  121. false, false, false] # Acceleration X double dot, Y double dot, Z double dot
  122. odom1_queue_size: 100
  123. odom1_nodelay: true # Ignore delays in the odometry/gps data.
  124. odom1_differential: false # Typically false for odometry, as it's usually more accurate.
  125. odom1_relative: false
  126.  
  127.  
  128. use_control: false
  129.  
  130. 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,
  131. 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,
  132. 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,
  133. 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,
  134. 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,
  135. 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,
  136. 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,
  137. 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,
  138. 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,
  139. 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,
  140. 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,
  141. 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,
  142. 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,
  143. 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,
  144. 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]
  145.  
  146. navsat_transform:
  147. ros__parameters:
  148. use_sim_time: false
  149. frequency: 30.0
  150. delay: 3.0 # Typical value: 0.0-3.0 seconds. Accounts for delay in the sensor data. GPS usually has inherent delays
  151. magnetic_declination_radians: -0.38201051083 #0.0 # This is needed just if IMU provides orientation with respect to magnetic north.
  152. yaw_offset: 1.5707963 # Adjust the angle of IMU to be = 0 when facing East
  153. zero_altitude: true
  154. broadcast_utm_transform: true
  155. publish_filtered_gps: true
  156. use_odometry_yaw: false #true
  157. wait_for_datum: true
  158. #datum : [38.161479, -122.454630, 0.0] #Sonoma
  159. datum: [-23.66075725, -46.5925, 0.0] # Mercedes
  160.  
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