@@ -24,36 +24,41 @@ class HyperParameters
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{
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public:
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explicit HyperParameters (rclcpp::Node * node)
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- : show_debug_info(node->declare_parameter ( " show_debug_info" , false )),
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- ekf_rate(node->declare_parameter ( " predict_frequency" , 50.0 )),
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+ : show_debug_info(node->declare_parameter< bool >( " node. show_debug_info" )),
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+ ekf_rate(node->declare_parameter< double >( " node. predict_frequency" )),
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ekf_dt(1.0 / std::max(ekf_rate, 0.1 )),
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- tf_rate_(node->declare_parameter (" tf_rate" , 10.0 )),
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- publish_tf_(node->declare_parameter (" publish_tf" , true )),
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- enable_yaw_bias_estimation(node->declare_parameter (" enable_yaw_bias_estimation" , true )),
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- extend_state_step(node->declare_parameter (" extend_state_step" , 50 )),
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- pose_frame_id(node->declare_parameter (" pose_frame_id" , std::string(" map" ))),
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- pose_additional_delay(node->declare_parameter (" pose_additional_delay" , 0.0 )),
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- pose_gate_dist(node->declare_parameter (" pose_gate_dist" , 10000.0 )),
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- pose_smoothing_steps(node->declare_parameter (" pose_smoothing_steps" , 5 )),
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- twist_additional_delay(node->declare_parameter (" twist_additional_delay" , 0.0 )),
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- twist_gate_dist(node->declare_parameter (" twist_gate_dist" , 10000.0 )),
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- twist_smoothing_steps(node->declare_parameter (" twist_smoothing_steps" , 2 )),
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- proc_stddev_vx_c(node->declare_parameter (" proc_stddev_vx_c" , 5.0 )),
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- proc_stddev_wz_c(node->declare_parameter (" proc_stddev_wz_c" , 1.0 )),
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- proc_stddev_yaw_c(node->declare_parameter (" proc_stddev_yaw_c" , 0.005 )),
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- z_filter_proc_dev(node->declare_parameter (" z_filter_proc_dev" , 1.0 )),
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- roll_filter_proc_dev(node->declare_parameter (" roll_filter_proc_dev" , 0.01 )),
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- pitch_filter_proc_dev(node->declare_parameter (" pitch_filter_proc_dev" , 0.01 )),
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+ tf_rate_(node->declare_parameter<double >(" node.tf_rate" )),
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+ publish_tf_(node->declare_parameter<bool >(" node.publish_tf" )),
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+ enable_yaw_bias_estimation(node->declare_parameter<bool >(" node.enable_yaw_bias_estimation" )),
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+ extend_state_step(node->declare_parameter<int >(" node.extend_state_step" )),
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+ pose_frame_id(node->declare_parameter<std::string>(" misc.pose_frame_id" )),
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+ pose_additional_delay(
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+ node->declare_parameter<double >(" pose_measurement.pose_additional_delay" )),
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+ pose_gate_dist(node->declare_parameter<double >(" pose_measurement.pose_gate_dist" )),
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+ pose_smoothing_steps(node->declare_parameter<int >(" pose_measurement.pose_smoothing_steps" )),
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+ twist_additional_delay(
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+ node->declare_parameter<double >(" twist_measurement.twist_additional_delay" )),
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+ twist_gate_dist(node->declare_parameter<double >(" twist_measurement.twist_gate_dist" )),
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+ twist_smoothing_steps(node->declare_parameter<int >(" twist_measurement.twist_smoothing_steps" )),
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+ proc_stddev_vx_c(node->declare_parameter<double >(" process_noise.proc_stddev_vx_c" )),
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+ proc_stddev_wz_c(node->declare_parameter<double >(" process_noise.proc_stddev_wz_c" )),
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+ proc_stddev_yaw_c(node->declare_parameter<double >(" process_noise.proc_stddev_yaw_c" )),
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+ z_filter_proc_dev(
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+ node->declare_parameter<double >(" simple_1d_filter_parameters.z_filter_proc_dev" )),
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+ roll_filter_proc_dev(
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+ node->declare_parameter<double >(" simple_1d_filter_parameters.roll_filter_proc_dev" )),
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+ pitch_filter_proc_dev(
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+ node->declare_parameter<double >(" simple_1d_filter_parameters.pitch_filter_proc_dev" )),
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pose_no_update_count_threshold_warn(
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- node->declare_parameter ( " pose_no_update_count_threshold_warn" , 50 )),
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+ node->declare_parameter< int >( " diagnostics. pose_no_update_count_threshold_warn" )),
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pose_no_update_count_threshold_error(
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- node->declare_parameter ( " pose_no_update_count_threshold_error" , 250 )),
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+ node->declare_parameter< int >( " diagnostics. pose_no_update_count_threshold_error" )),
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twist_no_update_count_threshold_warn(
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- node->declare_parameter ( " twist_no_update_count_threshold_warn" , 50 )),
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+ node->declare_parameter< int >( " diagnostics. twist_no_update_count_threshold_warn" )),
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twist_no_update_count_threshold_error(
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- node->declare_parameter ( " twist_no_update_count_threshold_error" , 250 )),
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+ node->declare_parameter< int >( " diagnostics. twist_no_update_count_threshold_error" )),
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threshold_observable_velocity_mps(
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- node->declare_parameter ( " threshold_observable_velocity_mps" , 0.5 ))
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+ node->declare_parameter< double >( " misc. threshold_observable_velocity_mps" ))
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{
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}
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