ellensohn/cps_rmp220_support
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update

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Björn Ellensohn 2023-10-04 14:34:37 +02:00
parent 12d035bd44
commit c365d9554a
2 changed files with 2 additions and 2 deletions
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2
config/ekf.yaml
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@ -5,7 +5,7 @@ ekf_filter_node:
# computation until it receives at least one message from one of theinputs. It will then run continuously at the # computation until it receives at least one message from one of theinputs. It will then run continuously at the
# frequency specified here, regardless of whether it receives more measurements. Defaults to 30 if unspecified. # frequency specified here, regardless of whether it receives more measurements. Defaults to 30 if unspecified.
# frequency: 30.0 # frequency: 30.0
frequency: 100.0 frequency: 10.0
# ekf_localization_node and ukf_localization_node both use a 3D omnidirectional motion model. If this parameter is # ekf_localization_node and ukf_localization_node both use a 3D omnidirectional motion model. If this parameter is
# 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

2
config/nav2_params.yaml
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@ -357,6 +357,6 @@ velocity_smoother:
max_accel: [2.5, 0.0, 3.2] max_accel: [2.5, 0.0, 3.2]
max_decel: [-2.5, 0.0, -3.2] max_decel: [-2.5, 0.0, -3.2]
odom_topic: "/odometry/filtered" odom_topic: "/odometry/filtered"
odom_duration: 0.01 # was 0.1 odom_duration: 0.1 # was 0.1
deadband_velocity: [0.0, 0.0, 0.0] deadband_velocity: [0.0, 0.0, 0.0]
velocity_timeout: 1.0 velocity_timeout: 1.0