Feature/add covarinace param (autowarefoundation#170)

* add covariance param * add description
TomohitoAndo · Jan 24, 2022 · 487097f · 487097f
1 parent 3edf482
commit 487097f
Showing 1 changed file with 11 additions and 0 deletions.
diff --git a/localization_launch/config/ndt_scan_matcher.param.yaml b/localization_launch/config/ndt_scan_matcher.param.yaml
@@ -32,3 +32,14 @@
 
     # Number of threads used for parallel computing
     omp_num_threads: 4
+
+    # The covariance of output pose
+    output_pose_covariance:
+      [
+        0.025, 0.0,   0.0,   0.0,      0.0,      0.0,
+        0.0,   0.025, 0.0,   0.0,      0.0,      0.0,
+        0.0,   0.0,   0.025, 0.0,      0.0,      0.0,
+        0.0,   0.0,   0.0,   0.000625, 0.0,      0.0,
+        0.0,   0.0,   0.0,   0.0,      0.000625, 0.0,
+        0.0,   0.0,   0.0,   0.0,      0.0,      0.000625,
+      ]