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Björn Ellensohn 2023-07-14 08:48:51 +02:00
parent c820e365ce
commit 485e48a755
1 changed files with 8 additions and 8 deletions
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14
config/ekf.yaml
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@ -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 # 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 # 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. # 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. # Whether to publish the acceleration state. Defaults to false if unspecified.
publish_acceleration: true publish_acceleration: true
# Whether to broadcast the transformation over the /tf topic. Defaultsto true if unspecified. # 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. # 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. # 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.
@ -36,9 +36,9 @@ ekf_filter_node:
# The order of the values of this parameter is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. # 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 # Configure it for x,y,z,vyaw on the odom topic
odom0_config: [true , true , true, odom0_config: [true , true , true,
false, false, false,
false, false, false,
false, false, true, false, false, true,
false, false, false,
false, false, false,
false, false, false] false, false, false]
@ -49,9 +49,9 @@ ekf_filter_node:
imu0_config: [false, false, false, imu0_config: [false, false, false,
false, false, false, false, false, false,
false, false, false, false, false, false,
false, false, false, false, false, true,
true, true, true] false, false, false]
# [ADVANCED] Some IMUs automatically remove acceleration due to gravity, and others don't. If yours doesn't, please set # [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. # 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 imu0_remove_gravitational_acceleration: true