update

Signed-off-by: kminoda <[email protected]>

localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator.cpp

@@ -316,16 +316,11 @@ void DeviationEstimator::timer_callback()
   stddev_vx_msg.data = stddev_vx;
   pub_stddev_vx_->publish(stddev_vx_msg);
 
-  // For IMU link standard deviation, we use the minimum value from the calculated standard
-  // deviation in base_link. This is because the standard deviation estimation of x and y in
-  // base_link may not be accurate especially when the data contains a motion when the people are
-  // getting on/off the vehicle, which causes the vehicle to tilt in roll and pitch. In this case,
-  // we would like to use the standard deviation of yaw axis in base_link, which is often the
-  // smallest value among the three axes.
-  double stddev_angvel_imu = std::numeric_limits<double>::max();
-  stddev_angvel_imu = std::min(stddev_angvel_imu, stddev_angvel_base.x);
-  stddev_angvel_imu = std::min(stddev_angvel_imu, stddev_angvel_base.y);
-  stddev_angvel_imu = std::min(stddev_angvel_imu, stddev_angvel_base.z);
+  // For IMU link standard deviation, we use the yaw standard deviation in base_link.
+  // This is because the standard deviation estimation of x and y in base_link may not be accurate especially when
+  // the data contains a motion when the people are getting on/off the vehicle, which causes the vehicle to tilt in roll and pitch.
+  // In this case, we would like to use the standard deviation of yaw axis in base_link.
+  double stddev_angvel_imu = stddev_angvel_base.z;
   geometry_msgs::msg::Vector3 stddev_angvel_imu_msg =
     createVector3(stddev_angvel_imu, stddev_angvel_imu, stddev_angvel_imu);
   pub_stddev_angvel_->publish(stddev_angvel_imu_msg);