From f2c7c6c653f6481312a330b50a220149f6cd87ae Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Tue, 30 Apr 2024 10:04:44 +0900 Subject: [PATCH] fix(ekf_localizer): updated ekf gate_dist params (#965) Updated ekf gate_dist Signed-off-by: Shintaro Sakoda --- autoware_launch/config/localization/ekf_localizer.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml index 4cc71e0904..19bfd2d498 100644 --- a/autoware_launch/config/localization/ekf_localizer.param.yaml +++ b/autoware_launch/config/localization/ekf_localizer.param.yaml @@ -13,13 +13,13 @@ pose_additional_delay: 0.0 pose_measure_uncertainty_time: 0.01 pose_smoothing_steps: 5 - pose_gate_dist: 10000.0 + pose_gate_dist: 49.5 # corresponds to significance level = 10^-10 twist_measurement: # for twist measurement twist_additional_delay: 0.0 twist_smoothing_steps: 2 - twist_gate_dist: 10000.0 + twist_gate_dist: 46.1 # corresponds to significance level = 10^-10 process_noise: # for process model