From cfc82561a5267b2f28419719114572e8ef903885 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Tue, 22 Aug 2023 12:09:06 +0200 Subject: [PATCH] added slam_toolbox localization option --- config/ekf.yaml | 2 +- config/mapper_params_localization.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/config/ekf.yaml b/config/ekf.yaml index 89f9e91..08e8972 100644 --- a/config/ekf.yaml +++ b/config/ekf.yaml @@ -35,7 +35,7 @@ ekf_filter_node: 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. # Configure it for x,y,z,vyaw on the odom topic - odom0_config: [false , false , false, + odom0_config: [true , true , false, false, false, true, false, false, false, false, false, true, diff --git a/config/mapper_params_localization.yaml b/config/mapper_params_localization.yaml index bf4da51..da41b35 100644 --- a/config/mapper_params_localization.yaml +++ b/config/mapper_params_localization.yaml @@ -15,7 +15,7 @@ slam_toolbox: mode: mapping #localization # if you'd like to start localizing on bringup in a map and pose - #map_file_name: test_steve + #map_file_name: map #map_start_pose: [5.0, 1.0, 0.0] debug_logging: false