update parameter names

Signed-off-by: meliketanrikulu <melike@leodrive.ai>

Author: meliketanrikulu

localization/autoware_pose_covariance_modifier_node/config/autoware_pose_covariance_modifier.param.yaml

@@ -1,10 +1,10 @@
 /**:
   ros__parameters:
     # Threshold value for the range in which GNSS error is most reliable
-    PositionErrorThreshold_1: 0.1      #meters
+    gnss_error_reliable_max: 0.1      #meters
 
     # Threshold value at which GNSS error is not considered reliable
-    PositionErrorThreshold_2: 0.25     #meters
+    gnss_error_unreliable_min: 0.25   #meters
 
     # Threshold value for yaw error
-    YawErrorThreshold: 0.3             #degrees
+    yaw_error_deg_threshold: 0.3      #degrees

localization/autoware_pose_covariance_modifier_node/src/autoware_pose_covariance_modifier_node.cpp

@@ -19,6 +19,14 @@
 AutowarePoseCovarianceModifierNode::AutowarePoseCovarianceModifierNode()
 : Node("AutowarePoseCovarianceModifierNode")
 {
+
+  gnss_error_reliable_max_ =
+   this->declare_parameter<double>("gnss_error_reliable_max", 0.10);
+  gnss_error_unreliable_min_ =
+   this->declare_parameter<double>("gnss_error_unreliable_min", 0.25);
+  yaw_error_deg_threshold_ =
+   this->declare_parameter<double>("yaw_error_deg_threshold", 0.3);
+
   trusted_pose_with_cov_sub_ =
     this->create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>(
       "input_trusted_pose_with_cov_topic", 10000,
@@ -69,23 +77,17 @@ std::array<double, 36> AutowarePoseCovarianceModifierNode::ndt_covariance_modifi
 {
   std::array<double, 36> ndt_covariance = in_ndt_covariance;
 
-  double position_error_threshold_1_ =
-    this->declare_parameter<double>("PositionErrorThreshold_1", 0.10);
-  double position_error_threshold_2_ =
-    this->declare_parameter<double>("PositionErrorThreshold_2", 0.25);
-  double yaw_error_threshold_ = this->declare_parameter<double>("YawErrorThreshold", 0.3);
-
   if (AutowarePoseCovarianceModifierNode::checkTrustedPoseTimeout()) {
     RCLCPP_WARN(this->get_logger(), "Trusted Pose Timeout");
     pose_source_ = static_cast<int>(AutowarePoseCovarianceModifierNode::PoseSource::NDT);
     return ndt_covariance;
   }
 
   if (
-    trustedPose.pose_average_rmse_xy <= position_error_threshold_1_ &&
-    trustedPose.yaw_rmse_in_degrees < yaw_error_threshold_) {
+    trustedPose.pose_average_rmse_xy <= gnss_error_reliable_max_ &&
+    trustedPose.yaw_rmse_in_degrees < yaw_error_deg_threshold_) {
     pose_source_ = static_cast<int>(AutowarePoseCovarianceModifierNode::PoseSource::GNSS);
-  } else if (trustedPose.pose_average_rmse_xy <= position_error_threshold_2_) {
+  } else if (trustedPose.pose_average_rmse_xy <= gnss_error_unreliable_min_) {
     /*
      * ndt_min_rmse_meters = in_ndt_rmse
      * ndt_max_rmse_meters = in_ndt_rmse  * 2

localization/autoware_pose_covariance_modifier_node/src/include/autoware_pose_covariance_modifier_node.hpp

@@ -58,6 +58,8 @@ class AutowarePoseCovarianceModifierNode : public rclcpp::Node
   void publishPoseSource();
   int pose_source_;
   rclcpp::Time trustedPoseCallbackTime;
+
+  double gnss_error_reliable_max_, gnss_error_unreliable_min_,yaw_error_deg_threshold_;
 };
 
 #endif  // AUTOWARE_POSE_COVARIANCE_MODIFIER_NODE_HPP_