added odom orientation to localization

diff --git a/twil_2dnav/config/ekf_params.yaml b/twil_2dnav/config/ekf_params.yaml
index e45245c..81531f8 100644 (file)
--- a/twil_2dnav/config/ekf_params.yaml
+++ b/twil_2dnav/config/ekf_params.yaml
@@ -6,7 +6,6 @@ ekf_filter_node:
         publish_tf: true 
         map_frame: map
         odom_frame: odom
-        # base_link_frame: twil_origin_localization_test
         base_link_frame: twil_origin
         world_frame: odom
 
@@ -17,29 +16,16 @@ ekf_filter_node:
                         0.0,  0.0,  0.0]
         # odom0 topic is set on launch file
         # config order: (X,Y,Z,roll,pitch,yaw,X˙,Y˙,Z˙,roll˙,pitch˙,yaw˙,X¨,Y¨,Z¨)
-        # robot_localization docs recommendation
-        # odom0_config: [false, false, false,
-        #                false, false, false,
-        #                true, true, false,
-        #                false, false, true,
-        #                false, false, false]
         odom0_config: [true, true,  false,
-                       false, false, false,
+                       false, false, true,
                        true,  true, false,
-                       false, false, false,
+                       false, false, true,
                        false, false, false]
         
         imu0: sensor/imu
-        # robot localization recommendation
         imu0_config: [false, false, false,
                       false, false, true,
                       false, false, false,
                       false, false, true,
                       false,  false, false]
-        # a localizaçao pela aceleracao do imu nao é boa. testei só com ela e ficou terrivel e ao fundir, piorou o do ground_truth
-        # nav2 docs recommendation
-        # imu0_config: [false, false, false,
-        #               true,  true,  true,
-        #               false, false, false,
-        #               false, false, false,
-        #               false, false, false]
\ No newline at end of file
+        # a localizacao pela aceleraçao do imu nao ficou boa, entao nao adicionei
\ No newline at end of file