forked from zbw/yiliao2026
49 lines
1.5 KiB
YAML
49 lines
1.5 KiB
YAML
### ekf config file ###
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ekf_filter_node:
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ros__parameters:
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frequency: 30.0
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sensor_timeout: 2.0
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two_d_mode: true
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transform_time_offset: 0.0
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transform_timeout: 0.2
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print_diagnostics: false
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debug: false
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publish_tf: true
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publish_acceleration: false
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map_frame: map
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odom_frame: odom
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base_link_frame: base_footprint
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world_frame: odom
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odom0: odom
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odom0_config: [true, false, false,
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false, false, false,
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true, true, false,
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false, false, true,
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false, false, false]
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odom0_queue_size: 10
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odom0_nodelay: false
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odom0_differential: true
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odom0_relative: false
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imu0: /imu/data_raw
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imu0_config: [false, false, false,
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false, false, true,
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false, false, false,
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false, false, true,
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false, false, false]
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imu0_nodelay: false
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imu0_differential: false
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imu0_relative: true
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imu0_queue_size: 10
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imu0_remove_gravitational_acceleration: true
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use_control: false
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stamped_control: false
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control_timeout: 0.2
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control_config: [true, false, false, false, false, true]
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acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4]
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deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5]
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acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9]
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