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Odometry: added "guess_from_tf" parameter

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matlabbe
2016-06-30 11:35:57 -04:00
parent fe417bbb3f
commit 88f164e6bf
3 changed files with 38 additions and 6 deletions
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launch/tests/sensor_fusion.launch
+6 -4
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@@ -28,10 +28,12 @@
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="publish_tf" type="bool" value="false"/>
<param name="publish_null_when_lost" type="bool" value="true"/>
<param name="guess_from_tf" type="bool" value="true"/>
<param name="Odom/FillInfoData" type="string" value="true"/>
<param name="Odom/ResetCountdown" type="string" value="1"/>
<param name="Odom/ResetCountdown" type="string" value="1"/>
<param name="Vis/FeatureType" type="string" value="6"/>
<param name="OdomF2M/MaxSize" type="string" value="1000"/>
</node>
<!-- SLAM -->
@@ -56,8 +58,8 @@
<!-- Odometry fusion (EKF), refer to demo launch file in robot_localization for more info -->
<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true" output="screen">
<param name="frequency" value="10"/>
<param name="sensor_timeout" value="0.5"/>
<param name="frequency" value="50"/>
<param name="sensor_timeout" value="0.1"/>
<param name="two_d_mode" value="false"/>
<param name="odom_frame" value="odom"/>
@@ -101,7 +103,7 @@
<!-- ======== ADVANCED PARAMETERS ======== -->
<param name="odom0_queue_size" value="5"/>
<param name="imu0_queue_size" value="5"/>
<param name="imu0_queue_size" value="50"/>
<!-- The values are ordered as x, y, z, roll, pitch, yaw, vx, vy, vz,
vroll, vpitch, vyaw, ax, ay, az. -->