localization_yaml

# For parameter descriptions, please refer to the template parameter files for each node.

ekf_se_odom: # Used only for broadcasting odom to base_link transforms
  frequency: 30
  sensor_timeout: 0.1
  two_d_mode: true
  transform_time_offset: 0.0
  transform_timeout: 0.0
  print_diagnostics: true
  debug: false

  map_frame: map
  odom_frame: odom
  base_link_frame: base_link
  world_frame: odom

# -------------------------------------
# Wheel odometry:

  odom0: /husky_velocity_controller/odom
  odom0_config: [false, false, false,  # x , y, z
                 false, false, false,  # roll, pitch, yaw
                 true,  true,  true,   # x', y', z'
                 false, false, true,   # roll', pitch', yaw'
                 false, false, false]  # x'', y'', z''
  odom0_queue_size: 10
  odom0_nodelay: true
  odom0_differential: false
  odom0_relative: false

# -------------------------------------
# Laser scanmatching odometry:

  odom1: scanmatch_odom
  odom1_config: [true, true, false,
                 false, false, true,
                 false,  false,  false,
                 false, false, true,
                 false, false, false]
  odom1_queue_size: 10
  odom1_nodelay: true
  odom1_differential: false
  odom1_relative: false

# --------------------------------------
# imu configure:

  imu0: /imu/data_raw
  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: 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,    1e-3, 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,    0.3,  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,    0.01, 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,     0.5,   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,    0.3,  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,    0.3,  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,    0.3,  0,
                             0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0.3]

  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,    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,    1e-9, 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,    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,     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,     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,    1.0]

ekf_se_map: # Used only for broadcasting map to odom transforms
  frequency: 30
  sensor_timeout: 0.1
  two_d_mode: true
  transform_time_offset: 0.0
  transform_timeout: 0.0
  print_diagnostics: true
  debug: false

  map_frame: map
  odom_frame: odom
  base_link_frame: base_link
  world_frame: map

# -------------------------------------
# Wheel odometry:

  odom0: /husky_velocity_controller/odom
  odom0_config: [false, false, false,
                 false, false, false,
                 true,  true,  true,
                 false, false, true,
                 false, false, false]
  odom0_queue_size: 10
  odom0_nodelay: true
  odom0_differential: false
  odom0_relative: false

# -------------------------------------
# GPS odometry:

  odom1: /gps/rtkfix
  odom1_config: [true,  true,  false,
                 false, false, false,
                 false, false, false,
                 false, false, false,
                 false, false, false]
  odom1_queue_size: 10
  odom1_nodelay: true
  odom1_differential: false
  odom1_relative: false

# -------------------------------------
# Laser scanmatching odometry:

  odom2: scanmatch_odom
  odom2_config: [true, true, false,
                 false, false, true,
                 false,  false,  false,
                false, false, false,
                false, false, false]
  odom2_queue_size: 10
  odom2_nodelay: true
  odom2_differential: false
  odom2_relative: false

# --------------------------------------
# imu configure: (IMU is too noisy for this)

  imu0: /imu/data_raw
  imu0_config: [false, false, false,
                false,  false,  false,
                false, false, false,
                true,  true,  true,
                true,  true,  true]
  imu0_nodelay: true
  imu0_differential: true
  imu0_relative: false
  imu0_queue_size: 10
  imu0_remove_gravitational_acceleration: true

  use_control: false

  process_noise_covariance: [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,    1e-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,    0.3,  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,    0.5,   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,     0.1,  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,    0.3,  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,    0.3,  0,
                             0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0.3]

  initial_estimate_covariance: [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,    1e-9, 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,    1e-9, 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,    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,     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,     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,    1.0]