chore(ekf_localizer): move parameters to its dedicated yaml file (#244)

* chores(ekf_localizer): move parameters to its dedicated yaml file Signed-off-by: Vincent Richard <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Vincent Richard <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
tier4 · Mar 22, 2023 · f93df2b · f93df2b
1 parent 5bf8658
commit f93df2b
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diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml
@@ -0,0 +1,23 @@
+/**:
+  ros__parameters:
+    show_debug_info: false
+    enable_yaw_bias_estimation: True
+    predict_frequency: 50.0
+    tf_rate: 50.0
+    extend_state_step: 50
+
+    # for Pose measurement
+    pose_additional_delay: 0.0
+    pose_measure_uncertainty_time: 0.01
+    pose_smoothing_steps: 5
+    pose_gate_dist: 10000.0
+
+    # for twist measurement
+    twist_additional_delay: 0.0
+    twist_smoothing_steps: 2
+    twist_gate_dist: 10000.0
+
+    # for process model
+    proc_stddev_yaw_c: 0.005
+    proc_stddev_vx_c: 10.0
+    proc_stddev_wz_c: 5.0
diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml
@@ -16,6 +16,7 @@
     <arg name="random_downsample_filter_param_path" value="$(find-pkg-share autoware_launch)/config/localization/random_downsample_filter.param.yaml"/>
     <arg name="ndt_scan_matcher_param_path" value="$(find-pkg-share autoware_launch)/config/localization/ndt_scan_matcher.param.yaml"/>
     <arg name="localization_error_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/localization/localization_error_monitor.param.yaml"/>
+    <arg name="ekf_localizer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/ekf_localizer.param.yaml"/>
     <arg name="pose_initializer_common_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer_common.param.yaml"/>
     <arg name="pose_initializer_param_path" value="$(var pose_initializer_param_path)"/>
   </include>