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Update ekf.yaml
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@rafal-gorecki
rafal-gorecki authored Nov 13, 2023
1 parent cb57e44 commit 62946c4
Showing 1 changed file with 5 additions and 5 deletions.
10 changes: 5 additions & 5 deletions rosbot_bringup/config/ekf.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@ ekf_filter_node:
odom0_config: [false, false, false, # X , Y , Z
false, false, false, # roll , pitch ,yaw
true, true, false, # dX , dY , dZ
false, false, false, # droll , dpitch ,dyaw
false, false, true, # droll , dpitch ,dyaw
false, false, false] # ddX , ddY , ddZ

odom0_queue_size: 2
Expand All @@ -33,7 +33,7 @@ ekf_filter_node:
imu0_config: [false, false, false, # X , Y , Z
false, false, true, # roll , pitch ,yaw
false, false, false, # dX , dY , dZ
false, false, false, # droll , dpitch ,dyaw
false, false, true, # droll , dpitch ,dyaw
false, false, false] # ddX , ddY , ddZ
imu0_queue_size: 5
imu0_nodelay: true
Expand All @@ -56,9 +56,9 @@ ekf_filter_node:
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5e-3, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5e-3, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5e-3, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4e-2, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4e-2, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4e-2, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-5, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-5, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-5]

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