From eadccd51de84f142bdfd3bd5214a23d958190d45 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Wed, 20 Sep 2023 16:23:18 +0900 Subject: [PATCH] feat(ekf_localizer): ignore dead band of velocity sensor (#574) * feat(ekf_localizer): ignore dead band of velocity sensor Signed-off-by: kminoda * style(pre-commit): autofix --------- Signed-off-by: kminoda Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- autoware_launch/config/localization/ekf_localizer.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml index 8b24b79e71..667217d259 100644 --- a/autoware_launch/config/localization/ekf_localizer.param.yaml +++ b/autoware_launch/config/localization/ekf_localizer.param.yaml @@ -27,3 +27,6 @@ pose_no_update_count_threshold_error: 250 twist_no_update_count_threshold_warn: 50 twist_no_update_count_threshold_error: 250 + + # for velocity measurement limitation (Set 0.0 if you want to ignore) + threshold_observable_velocity_mps: 0.0 # [m/s]