Merge branch 'main' into feat/ekf_localizer/ignore_dead_band_of_veloc…

…ity_sensor
autowarefoundation · Sep 20, 2023 · fb40014 · fb40014
2 parents 8b1e020 + 15314a9
commit fb40014
Showing 1 changed file with 7 additions and 1 deletion.
diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml
@@ -21,6 +21,12 @@
     proc_stddev_yaw_c: 0.005
     proc_stddev_vx_c: 10.0
     proc_stddev_wz_c: 5.0
+
+    # for diagnostics
+    pose_no_update_count_threshold_warn: 50
+    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]
+    threshold_observable_velocity_mps: 0.0 # [m/s]