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| proc_stddev_vx_c | double | Standard deviation of process noise in time differentiation expression of linear velocity x, noise for d_vx = 0 | 2.0 |
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| proc_stddev_wz_c | double | Standard deviation of process noise in time differentiation expression of angular velocity z, noise for d_wz = 0 | 0.2 |
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| proc_stddev_yaw_c | double | Standard deviation of process noise in time differentiation expression of yaw, noise for d_yaw = omega | 0.005 |
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| proc_stddev_yaw_bias_c | double | Standard deviation of process noise in time differentiation expression of yaw_bias, noise for d_yaw_bias = 0 | 0.001 |
| pose_no_update_count_threshold_warn | size_t | The threshold at which a WARN state is triggered due to the Pose Topic update not happening continuously for a certain number of times. | 50 |
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| pose_no_update_count_threshold_error | size_t | The threshold at which an ERROR state is triggered due to the Pose Topic update not happening continuously for a certain number of times. | 250 |
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| twist_no_update_count_threshold_warn | size_t | The threshold at which a WARN state is triggered due to the Twist Topic update not happening continuously for a certain number of times. | 50 |
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| twist_no_update_count_threshold_error | size_t | The threshold at which an ERROR state is triggered due to the Twist Topic update not happening continuously for a certain number of times. | 250 |
| threshold_observable_velocity_mps | double | Minimum value for velocity that will be used for EKF. Mainly used for dead zone in velocity sensor | 0.0 (disabled) |
"title": "EKF Localizer Configuration for Diagnostics",
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"definitions": {
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"diagnostics": {
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"type": "object",
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"properties": {
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"pose_no_update_count_threshold_warn": {
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"type": "integer",
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"description": "The threshold at which a WARN state is triggered due to the Pose Topic update not happening continuously for a certain number of times",
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"default": 50
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},
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"pose_no_update_count_threshold_error": {
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"type": "integer",
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"description": "The threshold at which an ERROR state is triggered due to the Pose Topic update not happening continuously for a certain number of times",
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"default": 100
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},
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"twist_no_update_count_threshold_warn": {
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"type": "integer",
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"description": "The threshold at which a WARN state is triggered due to the Twist Topic update not happening continuously for a certain number of times",
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"default": 50
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},
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"twist_no_update_count_threshold_error": {
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"type": "integer",
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"description": "The threshold at which an ERROR state is triggered due to the Twist Topic update not happening continuously for a certain number of times",
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