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refactor(pose_initializer): rework parameters
Signed-off-by: PhoebeWu21 <wwcphoebe@gmail.com>
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localization/pose_initializer/config/pose_initializer.param.yaml

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@@ -2,6 +2,11 @@
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ros__parameters:
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gnss_pose_timeout: 3.0 # [sec]
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stop_check_duration: 3.0 # [sec]
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ekf_enabled: true
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gnss_enabled: true
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yabloc_enabled: true
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ndt_enabled: true
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stop_check_enabled: true
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# from gnss
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gnss_particle_covariance:

localization/pose_initializer/schema/pose_initializer.schema.json

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@@ -12,12 +12,37 @@
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"default": "3.0",
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"minimum": 0.0
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},
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"stop_check_enabled": {
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"type": "boolean",
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"description": "If true, initialization is accepted only when the vehicle is stopped.",
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"default": "true"
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},
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"stop_check_duration": {
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"type": "number",
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"description": "The duration used for the stop check above. [sec]",
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"default": "3.0",
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"minimum": 0.0
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},
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"ekf_enabled": {
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"type": "boolean",
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"description": "If true, EKF localizer is activated.",
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"default": "true"
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},
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"gnss_enabled": {
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"type": "boolean",
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"description": "If true, use the GNSS pose when no pose is specified.",
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"default": "true"
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},
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"yabloc_enabled": {
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"type": "boolean",
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"description": "If true, YabLocModule is used.",
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"default": "true"
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},
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"ndt_enabled": {
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"type": "boolean",
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"description": "If true, the pose will be estimated by NDT scan matcher, otherwise it is passed through.",
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"default": "true"
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},
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"gnss_particle_covariance": {
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"type": "array",
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"description": "gnss particle covariance",
@@ -32,6 +57,11 @@
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"required": [
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"gnss_pose_timeout",
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"stop_check_duration",
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"ekf_enabled",
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"gnss_enabled",
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"yabloc_enabled",
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"ndt_enabled",
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"stop_check_enabled",
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"gnss_particle_covariance",
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"output_pose_covariance"
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],

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