fix(ekf_localizer): updated ekf gate_dist params (#965)

Updated ekf gate_dist Signed-off-by: Shintaro Sakoda <[email protected]>
autowarefoundation · Apr 30, 2024 · f2c7c6c · f2c7c6c
1 parent dbfd6f7
commit f2c7c6c
Showing 1 changed file with 2 additions and 2 deletions.
diff --git 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