working dual ekf

RoboJackets · Nov 15, 2024 · 7a9339d · 7a9339d
1 parent d256f76
commit 7a9339d
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/urc_localization/config/ekf.yaml b/urc_localization/config/ekf.yaml
@@ -25,8 +25,8 @@ ekf_filter_node_odom:
     imu_remove_gravitational_acceleration: true
 
     use_control: false
-    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]
+    # 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:
   ros__parameters:
@@ -78,8 +78,8 @@ ekf_filter_node_map:
     imu_remove_gravitational_acceleration: true
 
     use_control: false
-    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]
+    # 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]
 
 
 
@@ -96,4 +96,4 @@ navsat_transform:
         publish_filtered_gps: true
         use_odometry_yaw: false
         wait_for_datum: false
-
+