change navsat to run after ekf_odom

RoboJackets · Nov 13, 2024 · 32bc6d2 · 32bc6d2
1 parent 5378601
commit 32bc6d2
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diff --git a/urc_localization/config/ekf.yaml b/urc_localization/config/ekf.yaml
@@ -25,7 +25,7 @@ ekf_filter_node_odom:
     imu_remove_gravitational_acceleration: true
 
     use_control: false
-    process_noise_covariance: [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,4e-8,4e-8,4e-8,0.00028900000000000003,0.00028900000000000003,0.00028900000000000003]
+    process_noise_covariance: [0.1,0.1,0.1,0.1,0.1,0.1,0.1,0.1,0.1,4e-8,4e-8,4e-8,0.00028900000000000003,0.00028900000000000003,0.00028900000000000003]
     initial_estimate_covariance: [1e-6,1e-6,1e-9,1e-6,1e-6,1e-9,1e-6,1e-6,1e-6,1e-6,1e-6,1e-6,1e-6,1e-6,1e-6]
 
 ekf_filter_node_map:
@@ -78,7 +78,7 @@ ekf_filter_node_map:
     imu_remove_gravitational_acceleration: true
 
     use_control: false
-    process_noise_covariance: [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,4e-8,4e-8,4e-8,0.00028900000000000003,0.00028900000000000003,0.00028900000000000003]
+    process_noise_covariance: [0.1,0.1,0.1,0.1,0.1,0.1,0.1,0.1,0.1,4e-8,4e-8,4e-8,0.00028900000000000003,0.00028900000000000003,0.00028900000000000003]
     initial_estimate_covariance: [1e-6,1e-6,1e-9,1e-6,1e-6,1e-9,1e-6,1e-6,1e-6,1e-6,1e-6,1e-6,1e-6,1e-6,1e-6]
 
 

diff --git a/urc_localization/launch/dual_ekf_navsat.launch.py b/urc_localization/launch/dual_ekf_navsat.launch.py
@@ -62,5 +62,5 @@
 #                     ("odometry/gps", "odometry/gps"),
 #                 ],
 #             ),
-#         ]
+#         ]`
 #     )