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update diffbot covariance matrix

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This commit is contained in:
Björn Ellensohn 2023-07-12 12:00:03 +02:00
parent 83e00c9008
commit c820e365ce
2 changed files with 9 additions and 5 deletions
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12
config/diffbot_controllers.yaml
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@ -29,11 +29,15 @@ diffbot_base_controller:
base_frame_id: base_link base_frame_id: base_link
# pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01] # 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] # twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
pose_covariance_diagonal: # pose_covariance_diagonal:
[0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] # [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
twist_covariance_diagonal: # 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 # [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 open_loop: false
#enable_odom_tf: true #disabled because tf will be handled by robot_localizaion node in the future (imu sensor fusion) #enable_odom_tf: true #disabled because tf will be handled by robot_localizaion node in the future (imu sensor fusion)

2
config/ekf.yaml
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@ -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 # [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: true imu0_remove_gravitational_acceleration: false