Merge pull request #435 from tier4/feat/ekf_localizer/ignore_zero_band

feat(ekf_localizer): ignore zero band
tier4 · Sep 25, 2023 · 87aeade · 87aeade
2 parents 51b3aa4 + 03da1ae
commit 87aeade
Showing 1 changed file with 9 additions and 0 deletions.
diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml
@@ -21,3 +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: 0.5 # [m/s]