From 32bc6d24bd5833845926e68d83383d0de691c238 Mon Sep 17 00:00:00 2001 From: JustinErdenebat Date: Tue, 12 Nov 2024 19:48:55 -0500 Subject: [PATCH] change navsat to run after ekf_odom --- urc_localization/config/ekf.yaml | 4 ++-- urc_localization/launch/dual_ekf_navsat.launch.py | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/urc_localization/config/ekf.yaml b/urc_localization/config/ekf.yaml index 571b37e8..aafee947 100644 --- 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 index f140f7a0..555636be 100644 --- 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"), # ], # ), -# ] +# ]` # )