From: Henrique Scharlau Coelho Date: Sun, 3 Dec 2023 20:03:44 +0000 (-0300) Subject: added odom orientation to localization X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=f0a2e7de5c39dc72a496a2342e10ef61ef77f485;p=twil.git 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 --- 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