From 4c5b5599aada4fe7753691badff12585b5cf2e70 Mon Sep 17 00:00:00 2001 From: Motsu-san Date: Mon, 29 Jan 2024 10:16:39 +0900 Subject: [PATCH] doc: Replace parameter tables to JSON Schema ones in README Signed-off-by: Motsu-san --- localization/ekf_localizer/README.md | 46 +++++----------------------- 1 file changed, 7 insertions(+), 39 deletions(-) diff --git a/localization/ekf_localizer/README.md b/localization/ekf_localizer/README.md index 02f14a86cd7df..1b09420f5047d 100644 --- a/localization/ekf_localizer/README.md +++ b/localization/ekf_localizer/README.md @@ -78,65 +78,33 @@ The parameters are set in `launch/ekf_localizer.launch` . ### For Node -| Name | Type | Description | Default value | -| :------------------------- | :----- | :---------------------------------------------------------------------------------------- | :------------ | -| show_debug_info | bool | Flag to display debug info | false | -| predict_frequency | double | Frequency for filtering and publishing [Hz] | 50.0 | -| tf_rate | double | Frequency for tf broadcasting [Hz] | 10.0 | -| publish_tf | bool | Whether to publish tf | true | -| extend_state_step | int | Max delay step which can be dealt with in EKF. Large number increases computational cost. | 50 | -| enable_yaw_bias_estimation | bool | Flag to enable yaw bias estimation | true | +{{ json_to_markdown("localization/ekf_localizer/schema/sub/node.sub_schema.json") }} ### For pose measurement -| Name | Type | Description | Default value | -| :---------------------------- | :----- | :------------------------------------------------------------ | :------------ | -| pose_additional_delay | double | Additional delay time for pose measurement [s] | 0.0 | -| pose_measure_uncertainty_time | double | Measured time uncertainty used for covariance calculation [s] | 0.01 | -| pose_smoothing_steps | int | A value for smoothing steps | 5 | -| pose_gate_dist | double | Limit of Mahalanobis distance used for outliers detection | 10000.0 | +{{ json_to_markdown("localization/ekf_localizer/schema/sub/pose_measurement.sub_schema.json") }} ### For twist measurement -| Name | Type | Description | Default value | -| :--------------------- | :----- | :-------------------------------------------------------- | :------------ | -| twist_additional_delay | double | Additional delay time for twist [s] | 0.0 | -| twist_smoothing_steps | int | A value for smoothing steps | 2 | -| twist_gate_dist | double | Limit of Mahalanobis distance used for outliers detection | 10000.0 | +{{ json_to_markdown("localization/ekf_localizer/schema/sub/twist_measurement.sub_schema.json") }} ### For process noise -| Name | Type | Description | Default value | -| :--------------------- | :----- | :--------------------------------------------------------------------------------------------------------------- | :------------ | -| proc_stddev_vx_c | double | Standard deviation of process noise in time differentiation expression of linear velocity x, noise for d_vx = 0 | 2.0 | -| proc_stddev_wz_c | double | Standard deviation of process noise in time differentiation expression of angular velocity z, noise for d_wz = 0 | 0.2 | -| proc_stddev_yaw_c | double | Standard deviation of process noise in time differentiation expression of yaw, noise for d_yaw = omega | 0.005 | -| proc_stddev_yaw_bias_c | double | Standard deviation of process noise in time differentiation expression of yaw_bias, noise for d_yaw_bias = 0 | 0.001 | +{{ json_to_markdown("localization/ekf_localizer/schema/sub/process_noise.sub_schema.json") }} note: process noise for positions x & y are calculated automatically from nonlinear dynamics. ### Simple 1D Filter Parameters -| Name | Type | Description | Default value | -| :-------------------- | :----- | :---------------------------------------------- | :------------ | -| z_filter_proc_dev | double | Simple1DFilter - Z filter process deviation | 1.0 | -| roll_filter_proc_dev | double | Simple1DFilter - Roll filter process deviation | 0.01 | -| pitch_filter_proc_dev | double | Simple1DFilter - Pitch filter process deviation | 0.01 | +{{ json_to_markdown("localization/ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json") }} ### For diagnostics -| Name | Type | Description | Default value | -| :------------------------------------ | :----- | :----------------------------------------------------------------------------------------------------------------------------------------- | :------------ | -| pose_no_update_count_threshold_warn | size_t | The threshold at which a WARN state is triggered due to the Pose Topic update not happening continuously for a certain number of times. | 50 | -| pose_no_update_count_threshold_error | size_t | The threshold at which an ERROR state is triggered due to the Pose Topic update not happening continuously for a certain number of times. | 250 | -| twist_no_update_count_threshold_warn | size_t | The threshold at which a WARN state is triggered due to the Twist Topic update not happening continuously for a certain number of times. | 50 | -| twist_no_update_count_threshold_error | size_t | The threshold at which an ERROR state is triggered due to the Twist Topic update not happening continuously for a certain number of times. | 250 | +{{ json_to_markdown("localization/ekf_localizer/schema/sub/diagnostics.sub_schema.json") }} ### Misc -| Name | Type | Description | Default value | -| :-------------------------------- | :----- | :------------------------------------------------------------------------------------------------- | :------------- | -| threshold_observable_velocity_mps | double | Minimum value for velocity that will be used for EKF. Mainly used for dead zone in velocity sensor | 0.0 (disabled) | +{{ json_to_markdown("localization/ekf_localizer/schema/sub/misc.sub_schema.json") }} ## How to tune EKF parameters