From 485e48a755ba043edafb865969a2189f8f78d8e7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Fri, 14 Jul 2023 08:48:51 +0200 Subject: [PATCH] update --- config/ekf.yaml | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/config/ekf.yaml b/config/ekf.yaml index 3bdce99..195a07f 100644 --- a/config/ekf.yaml +++ b/config/ekf.yaml @@ -10,13 +10,13 @@ ekf_filter_node: # set to true, no 3D information will be used in your state estimate. Use this if you are operating in a planar # environment and want to ignore the effect of small variations in the ground plane that might otherwise be detected # by, for example, an IMU. Defaults to false if unspecified. - two_d_mode: false + two_d_mode: true # Whether to publish the acceleration state. Defaults to false if unspecified. publish_acceleration: true # Whether to broadcast the transformation over the /tf topic. Defaultsto true if unspecified. - publish_tf: true + publish_tf: true #was true # 1. Set the map_frame, odom_frame, and base_link frames to the appropriate frame names for your system. # 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. @@ -35,10 +35,10 @@ ekf_filter_node: odom0: /odom # The order of the values of this parameter is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. # Configure it for x,y,z,vyaw on the odom topic - odom0_config: [true, true, true, - false, false, false, - false, false, false, + odom0_config: [true , true , true, false, false, true, + false, false, false, + false, false, false, false, false, false] @@ -49,9 +49,9 @@ ekf_filter_node: imu0_config: [false, false, false, false, false, false, false, false, false, - false, false, false, - true, true, true] + false, false, true, + false, false, false] # [ADVANCED] Some IMUs automatically remove acceleration due to gravity, and others don't. If yours doesn't, please set # this to true, and *make sure* your data conforms to REP-103, specifically, that the data is in ENU frame. - imu0_remove_gravitational_acceleration: false \ No newline at end of file + imu0_remove_gravitational_acceleration: true \ No newline at end of file