ellensohn/cps_rmp220_support
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update ekf config

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Björn Ellensohn 2023-09-05 12:01:48 +02:00
parent e7c2424bd0
commit a9ad948268
1 changed files with 4 additions and 4 deletions
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8
config/ekf.yaml
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@ -16,7 +16,7 @@ ekf_filter_node:
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 #was true publish_tf: false #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.
@ -30,14 +30,14 @@ ekf_filter_node:
map_frame: map # Defaults to "map" if unspecified map_frame: map # Defaults to "map" if unspecified
odom_frame: odom # Defaults to "odom" if unspecified odom_frame: odom # Defaults to "odom" if unspecified
base_link_frame: base_link # Defaults to "base_link" ifunspecified base_link_frame: base_link # Defaults to "base_link" ifunspecified
world_frame: odom # Defaults to the value ofodom_frame if unspecified world_frame: odom # Defaults to the value of odom_frame if unspecified
odom0: /odom 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. # 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 , false, odom0_config: [false , false , false,
false, false, true, false, false, true,
false, false, false, true, false, false,
false, false, true, false, false, true,
false, false, false] false, false, false]
odom0_differential: true odom0_differential: true