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ekf_rio_default.yaml
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# Default parameters for the demo datasets
# Documentation of the paramters can be found in the corresponding reconfigure files (see <package_name>/cfg/<package_name>/*.py)
# running rqt_reconfigure also provides tooltip text for the parameters and allows for online tuning
# General
frame_id: "odom"
# Publishers
publisher_rate: 30
pose_path_publisher_rate: 5
# Subscribers
topic_imu: "/sensor_platform/imu"
topic_baro_altimeter: "/sensor_platform/baro"
topic_radar_scan: "/sensor_platform/radar/scan"
topic_radar_trigger: "/sensor_platform/radar/trigger"
# Rosbag mode --> used by rosbag node
republish_ground_truth: True
topic_ground_truth_pose: "/ground_truth/pose"
topic_ground_truth_twist: "/ground_truth/twist"
topic_ground_truth_twist_body: "/ground_truth/twist_body"
# KF Updates
altimeter_update: True
sigma_altimeter: 5.0
radar_update: True
# Radar Measurement Model
outlier_percentil_radar: 0.05
use_w: True
## radar ego velocity estimation
# filtering
min_dist: 0.25 # min distance of valid detection
max_dist: 100 # Max distance of valid detection
min_db: 3 # min SNR in [db]
elevation_thresh_deg: 60 # threshold for elevation [deg]
azimuth_thresh_deg: 60 # threshold fo azimuth [deg]
radar_velocity_correction_factor: 1.0 # Doppler velocity correction
filter_min_z: -3 # in -2 2 out
filter_max_z: 3
# zero velocity detection
thresh_zero_velocity: 0.05 # all inliers need to smaller than this value
allowed_outlier_percentage: 0.25 # outlier ratio (=percentage of detections which are allowed to be above thresh_zero_velocity)
sigma_zero_velocity_x: 0.025 # sigma v_r
sigma_zero_velocity_y: 0.025 # sigma_v_r
sigma_zero_velocity_z: 0.025 # sigma v_r
# result filtering
max_sigma_x: 0.2 # max estimated sigma to be considered an inlier (right)
max_sigma_y: 0.2 # (forward)
max_sigma_z: 0.2 # (up)
max_r_cond: 1.0e3 # max conditional number of LSQ Pseudo Inverse to ensure a stable result
use_cholesky_instead_of_bdcsvd: True # faster but less stable
# RANSAC parameters
use_ransac: True # turn on RANSAC LSQ
outlier_prob: 0.4 # worst case outlier probability
success_prob: 0.9999 # probability of successful determination of inliers
N_ransac_points: 3 # number of measurements used for the RANSAC solution
inlier_thresh: 0.15 # inlier threshold for inlier determination
# noise offset
sigma_offset_radar_x: 0.05 # offset added to estimated sigmas
sigma_offset_radar_y: 0.025
sigma_offset_radar_z: 0.05
# ODR refinement
use_odr: True # turn on odr refinement
min_speed_odr: 4.0 # min speed for ODR refinement
sigma_v_r: 0.125 # noise of v_r measurement used for the refinement
model_noise_offset_deg: 2.0 # min model noise
model_noise_scale_deg: 10.0 # scale model noise
# Initialization
T_init: 10
calib_gyro: true
g_n: 9.81
p_0_x: 0
p_0_y: 0
p_0_z: 0
v_0_x: 0
v_0_y: 0
v_0_z: 0
yaw_0_deg: 0
b_0_a_x: 0
b_0_a_y: 0
b_0_a_z: 0
b_0_w_x_deg: 0
b_0_w_y_deg: 0
b_0_w_z_deg: 0
b_0_alt: 0
# Initial Uncertainty
sigma_p: 0
sigma_v: 0
sigma_roll_pitch_deg: 0
sigma_yaw_deg: 0
sigma_b_a: 0.02
sigma_b_w_deg: 0.000003
sigma_b_alt: 0.1
sigma_l_b_r_x: 0.01
sigma_l_b_r_y: 0.01
sigma_l_b_r_z: 0.01
sigma_eul_b_r_roll_deg: 0.25
sigma_eul_b_r_pitch_deg: 0.25
sigma_eul_b_r_yaw_deg: 0.25
# Noise PSDs
noise_psd_a: 0.03
noise_psd_w_deg: 0.2
noise_psd_b_a: 0.00001
noise_psd_b_w_deg: 0.00001
noise_psd_b_alt: 0.000001