From c820e365ce4cf801203f78e886186aba4a0f3aa6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Wed, 12 Jul 2023 12:00:03 +0200 Subject: [PATCH] update diffbot covariance matrix --- config/diffbot_controllers.yaml | 12 ++++++++---- config/ekf.yaml | 2 +- 2 files changed, 9 insertions(+), 5 deletions(-) diff --git a/config/diffbot_controllers.yaml b/config/diffbot_controllers.yaml index 132a702..17f680d 100644 --- a/config/diffbot_controllers.yaml +++ b/config/diffbot_controllers.yaml @@ -29,11 +29,15 @@ diffbot_base_controller: base_frame_id: base_link # pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01] # twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01] - pose_covariance_diagonal: - [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] - twist_covariance_diagonal: - [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] # changed from https://github.com/kallaspriit/rosbot/blob/main/ros/src/rosbot_description/config/diff_drive_controller.yaml + # pose_covariance_diagonal: + # [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] + # twist_covariance_diagonal: + # [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] # changed from https://github.com/kallaspriit/rosbot/blob/main/ros/src/rosbot_description/config/diff_drive_controller.yaml + # Updated covariance matrix to small values on the diagonal axis for package ros_localization. This is recommended for diffdrive rorbots. + pose_covariance_diagonal : [0.0001, 0.0001, 0.0001, 0.0001, 0.0001, 0.0001] + twist_covariance_diagonal: [0.0001, 0.0001, 0.0001, 0.0001, 0.0001, 0.0001] + open_loop: false #enable_odom_tf: true #disabled because tf will be handled by robot_localizaion node in the future (imu sensor fusion) diff --git a/config/ekf.yaml b/config/ekf.yaml index 0d3e511..3bdce99 100644 --- a/config/ekf.yaml +++ b/config/ekf.yaml @@ -54,4 +54,4 @@ ekf_filter_node: # [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: true \ No newline at end of file + imu0_remove_gravitational_acceleration: false \ No newline at end of file