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feat(ekf_localizer): add covariance ellipse diagnostics (autowarefoun…
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…dation#1041)

* Added ellipse diagnostics to ekf

Signed-off-by: Shintaro Sakoda <[email protected]>

* Fixed to ellipse_scale

Signed-off-by: Shintaro Sakoda <[email protected]>

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Signed-off-by: Shintaro Sakoda <[email protected]>
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SakodaShintaro authored Jul 1, 2024
1 parent d076aa5 commit 48dcf87
Showing 1 changed file with 5 additions and 0 deletions.
5 changes: 5 additions & 0 deletions autoware_launch/config/localization/ekf_localizer.param.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,11 @@
pose_no_update_count_threshold_error: 100
twist_no_update_count_threshold_warn: 50
twist_no_update_count_threshold_error: 100
ellipse_scale: 3.0
error_ellipse_size: 1.5
warn_ellipse_size: 1.2
error_ellipse_size_lateral_direction: 0.3
warn_ellipse_size_lateral_direction: 0.25

misc:
# for velocity measurement limitation (Set 0.0 if you want to ignore)
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