From 5a0e1003bab6ea617f2754f266fd8af3309a0ff0 Mon Sep 17 00:00:00 2001 From: melike tanrikulu <41450930+meliketanrikulu@users.noreply.github.com> Date: Mon, 30 Sep 2024 17:15:09 +0300 Subject: [PATCH] docs(autoware_pose_cov_modifier): fix line breaks and dead links (#8991) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * fix(autoware_pose_cov_modifier): fix line breaks Signed-off-by: Melike Tanrıkulu * fix dead links Signed-off-by: Melike Tanrıkulu --------- Signed-off-by: Melike Tanrıkulu --- .../README.md | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/localization/autoware_pose_covariance_modifier/README.md b/localization/autoware_pose_covariance_modifier/README.md index b834bc88116a3..60ecf4bde3508 100644 --- a/localization/autoware_pose_covariance_modifier/README.md +++ b/localization/autoware_pose_covariance_modifier/README.md @@ -73,13 +73,13 @@ Here is a flowchart depicting the process and the predefined thresholds: ```mermaid graph TD - gnss_poser["gnss_poser"] --> |"/sensing/gnss/\npose_with_covariance"| pose_covariance_modifier_node - ndt_scan_matcher["ndt_scan_matcher"] --> |"/localization/pose_estimator/ndt_scan_matcher/\npose_with_covariance"| pose_covariance_modifier_node + gnss_poser["gnss_poser"] --> |"/sensing/gnss/
pose_with_covariance"| pose_covariance_modifier_node + ndt_scan_matcher["ndt_scan_matcher"] --> |"/localization/pose_estimator/ndt_scan_matcher/
pose_with_covariance"| pose_covariance_modifier_node subgraph pose_covariance_modifier_node ["Pose Covariance Modifier Node"] - pc1{{"gnss_pose_yaw\nstddev"}} - pc1 -->|"<= 0.3 rad"| pc2{{"gnss_pose_z\nstddev"}} - pc2 -->|"<= 0.1 m"| pc3{{"gnss_pose_xy\nstddev"}} + pc1{{"gnss_pose_yaw
stddev"}} + pc1 -->|"<= 0.3 rad"| pc2{{"gnss_pose_z
stddev"}} + pc2 -->|"<= 0.1 m"| pc3{{"gnss_pose_xy
stddev"}} pc2 -->|"> 0.1 m"| ndt_pose("NDT Pose") pc3 -->|"<= 0.1 m"| gnss_pose("GNSS Pose") pc3 -->|"0.1 m < x <= 0.2 m"| gnss_ndt_pose("`Both GNSS and NDT Pose @@ -117,8 +117,8 @@ the [pose_twist_estimator.launch.xml](../../launch/tier4_localization_launch/lau ### Without this condition (default) -- The output of the [ndt_scan_matcher](../../localization/ndt_scan_matcher) is directly sent - to [ekf_localizer](../../localization/ekf_localizer). +- The output of the [ndt_scan_matcher](../../localization/autoware_ndt_scan_matcher) is directly sent + to [ekf_localizer](../../localization/autoware_ekf_localizer). - It has a preset covariance value. - **topic name:** `/localization/pose_estimator/pose_with_covariance` - The GNSS pose does not enter the ekf_localizer. @@ -126,11 +126,11 @@ the [pose_twist_estimator.launch.xml](../../launch/tier4_localization_launch/lau ### With this condition -- The output of the [ndt_scan_matcher](../../localization/ndt_scan_matcher) is renamed +- The output of the [ndt_scan_matcher](../../localization/autoware_ndt_scan_matcher) is renamed - **from:** `/localization/pose_estimator/pose_with_covariance`. - **to:** `/localization/pose_estimator/ndt_scan_matcher/pose_with_covariance`. - The `ndt_scan_matcher` output enters the `autoware_pose_covariance_modifier`. -- The output of this package goes to [ekf_localizer](../../localization/ekf_localizer) with: +- The output of this package goes to [ekf_localizer](../../localization/autoware_ekf_localizer) with: - **topic name:** `/localization/pose_estimator/pose_with_covariance`. ## Node