diff --git a/localization/ekf_localizer/schema/sub/diagnostics.sub_schema.json b/localization/ekf_localizer/schema/sub/diagnostics.sub_schema.json index a6c271f23253e..89adf721241df 100644 --- a/localization/ekf_localizer/schema/sub/diagnostics.sub_schema.json +++ b/localization/ekf_localizer/schema/sub/diagnostics.sub_schema.json @@ -7,22 +7,22 @@ "properties": { "pose_no_update_count_threshold_warn": { "type": "integer", - "description": "Warning threshold for pose update count.", + "description": "The threshold at which a WARN state is triggered due to the Pose Topic update not happening continuously for a certain number of times", "default": 50 }, "pose_no_update_count_threshold_error": { "type": "integer", - "description": "Error threshold for pose update count.", + "description": "The threshold at which an ERROR state is triggered due to the Pose Topic update not happening continuously for a certain number of times", "default": 100 }, "twist_no_update_count_threshold_warn": { "type": "integer", - "description": "Warning threshold for twist update count.", + "description": "The threshold at which a WARN state is triggered due to the Twist Topic update not happening continuously for a certain number of times", "default": 50 }, "twist_no_update_count_threshold_error": { "type": "integer", - "description": "Error threshold for twist update count.", + "description": "The threshold at which an ERROR state is triggered due to the Twist Topic update not happening continuously for a certain number of times", "default": 100 } }, diff --git a/localization/ekf_localizer/schema/sub/misc.sub_schema.json b/localization/ekf_localizer/schema/sub/misc.sub_schema.json index 88ea6ce08a78b..7980c1a825f44 100644 --- a/localization/ekf_localizer/schema/sub/misc.sub_schema.json +++ b/localization/ekf_localizer/schema/sub/misc.sub_schema.json @@ -7,7 +7,7 @@ "properties": { "threshold_observable_velocity_mps": { "type": "number", - "description": "Velocity threshold for observability in meters per second.", + "description": "Minimum value for velocity that will be used for EKF. Mainly used for dead zone in velocity sensor [m/s] (0.0 means disabled)", "default": 0.0 } }, diff --git a/localization/ekf_localizer/schema/sub/node.sub_schema.json b/localization/ekf_localizer/schema/sub/node.sub_schema.json index 20ffdb3029e08..537fcef452fbf 100644 --- a/localization/ekf_localizer/schema/sub/node.sub_schema.json +++ b/localization/ekf_localizer/schema/sub/node.sub_schema.json @@ -7,27 +7,27 @@ "properties": { "show_debug_info": { "type": "boolean", - "description": "Displays debug information if set to true.", + "description": "Displays debug information if set to true", "default": false }, "predict_frequency": { "type": "number", - "description": "Frequency of prediction cycles.", + "description": "Frequency of prediction cycles for filtering and publishing [Hz]", "default": 50.0 }, "tf_rate": { "type": "number", - "description": "Frequency at which transform frames are published.", + "description": "Frequency at which transform frames are published [Hz]", "default": 50.0 }, "publish_tf": { "type": "boolean", - "description": "Determines whether transform frames are published.", + "description": "Determines whether transform frames are published", "default": true }, "extend_state_step": { "type": "integer", - "description": "Number of steps for extending the state.", + "description": "Number of max delay steps which can be dealt with in EKF. Large number increases computational cost.", "default": 50 }, "enable_yaw_bias_estimation": { diff --git a/localization/ekf_localizer/schema/sub/pose_measurement.sub_schema.json b/localization/ekf_localizer/schema/sub/pose_measurement.sub_schema.json index 0264de14b9719..a323b6e76e9c5 100644 --- a/localization/ekf_localizer/schema/sub/pose_measurement.sub_schema.json +++ b/localization/ekf_localizer/schema/sub/pose_measurement.sub_schema.json @@ -7,22 +7,22 @@ "properties": { "pose_additional_delay": { "type": "number", - "description": "Additional delay for pose measurements.", + "description": "Additional delay for pose measurements [s]", "default": 0.0 }, "pose_measure_uncertainty_time": { "type": "number", - "description": "Time uncertainty for pose measurements.", + "description": "Time uncertainty for covariance calculation [s]", "default": 0.01 }, "pose_smoothing_steps": { "type": "integer", - "description": "Number of steps for pose smoothing.", + "description": "Number of steps for pose smoothing", "default": 5 }, "pose_gate_dist": { "type": "number", - "description": "Gate distance for pose measurements.", + "description": "Limit of Mahalanobis distance used for outliers detection", "default": 10000.0 } }, diff --git a/localization/ekf_localizer/schema/sub/process_noise.sub_schema.json b/localization/ekf_localizer/schema/sub/process_noise.sub_schema.json index 9ebe53b81d621..9fa84ca6fdb39 100644 --- a/localization/ekf_localizer/schema/sub/process_noise.sub_schema.json +++ b/localization/ekf_localizer/schema/sub/process_noise.sub_schema.json @@ -5,20 +5,20 @@ "process_noise": { "type": "object", "properties": { - "proc_stddev_yaw_c": { - "type": "number", - "description": "Standard deviation of yaw in the process model.", - "default": 0.005 - }, "proc_stddev_vx_c": { "type": "number", - "description": "Standard deviation of linear velocity in the process model.", + "description": "Standard deviation of process noise in time differentiation expression of linear velocity x, noise for d_vx = 0", "default": 10.0 }, "proc_stddev_wz_c": { "type": "number", - "description": "Standard deviation of angular velocity in the process model.", + "description": "Standard deviation of process noise in time differentiation expression of angular velocity z, noise for d_wz = 0", "default": 5.0 + }, + "proc_stddev_yaw_c": { + "type": "number", + "description": "Standard deviation of process noise in time differentiation expression of yaw, noise for d_yaw = omega", + "default": 0.005 } }, "required": [ diff --git a/localization/ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json b/localization/ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json index a26ea2ed173f4..29d1609aecd8c 100644 --- a/localization/ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json +++ b/localization/ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json @@ -7,17 +7,17 @@ "properties": { "z_filter_proc_dev": { "type": "number", - "description": "Process deviation for the Z-axis filter.", + "description": "Simple1DFilter - Z filter process deviation", "default": 1.0 }, "roll_filter_proc_dev": { "type": "number", - "description": "Process deviation for the roll filter.", + "description": "Simple1DFilter - Roll filter process deviation", "default": 0.01 }, "pitch_filter_proc_dev": { "type": "number", - "description": "Process deviation for the pitch filter.", + "description": "Simple1DFilter - Pitch filter process deviation", "default": 0.01 } }, diff --git a/localization/ekf_localizer/schema/sub/twist_measurement.sub_schema.json b/localization/ekf_localizer/schema/sub/twist_measurement.sub_schema.json index 83a75706b1005..47212573c08a1 100644 --- a/localization/ekf_localizer/schema/sub/twist_measurement.sub_schema.json +++ b/localization/ekf_localizer/schema/sub/twist_measurement.sub_schema.json @@ -7,17 +7,17 @@ "properties": { "twist_additional_delay": { "type": "number", - "description": "Additional delay for twist measurements.", + "description": "Additional delay for twist calculation [s]", "default": 0.0 }, "twist_smoothing_steps": { "type": "integer", - "description": "Number of steps for twist smoothing.", + "description": "Number of steps for twist smoothing", "default": 2 }, "twist_gate_dist": { "type": "number", - "description": "Gate distance for twist measurements.", + "description": "Limit of Mahalanobis distance used for outliers detection", "default": 10000.0 } },