Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

feat(localization_error_monitor): add a config file #1282

Merged
merged 5 commits into from
Jul 8, 2022
Merged

feat(localization_error_monitor): add a config file #1282

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
1af4d8a
feat(localization_error_monitor): add a config file
kminoda Jul 8, 2022
3f7b212
ci(pre-commit): autofix
pre-commit-ci[bot] Jul 8, 2022
9f902f1
feat(localization_error_monitor): add a config file in tier4_localiza…
kminoda Jul 8, 2022
78e7329
ci(pre-commit): autofix
pre-commit-ci[bot] Jul 8, 2022
fd96de4
debugged
kminoda Jul 8, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 7 additions & 0 deletions launch/tier4_localization_launch/config/localization_error_monitor.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@
/**:
ros__parameters:
scale: 3.0
error_ellipse_size: 1.0
warn_ellipse_size: 0.8
error_ellipse_size_lateral_direction: 0.3
warn_ellipse_size_lateral_direction: 0.2
6 changes: 1 addition & 5 deletions ...calization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,10 +2,6 @@
<launch>
<include file="$(find-pkg-share localization_error_monitor)/launch/localization_error_monitor.launch.xml">
<arg name="input/pose_with_cov" value="/localization/pose_with_covariance"/>
<arg name="scale" value="3.0"/>
<arg name="error_ellipse_size" value="1.0"/>
<arg name="warn_ellipse_size" value="0.8"/>
<arg name="error_ellipse_size_lateral_direction" value="1.0"/>
<arg name="warn_ellipse_size_lateral_direction" value="0.8"/>
<arg name="param_file" value="$(find-pkg-share tier4_localization_launch)/config/localization_error_monitor.param.yaml"/>
</include>
</launch>
7 changes: 7 additions & 0 deletions localization/localization_error_monitor/config/localization_error_monitor.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@
/**:
ros__parameters:
scale: 3.0
error_ellipse_size: 1.0
warn_ellipse_size: 0.8
error_ellipse_size_lateral_direction: 0.3
warn_ellipse_size_lateral_direction: 0.2
12 changes: 2 additions & 10 deletions localization/localization_error_monitor/launch/localization_error_monitor.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,17 +1,9 @@
<launch>
<arg name="input/pose_with_cov" default="/localization/pose_with_covariance"/>
<arg name="scale" default="3.0"/>
<arg name="error_ellipse_size" default="1.0"/>
<arg name="warn_ellipse_size" default="0.8"/>
<arg name="error_ellipse_size_lateral_direction" default="0.3"/>
<arg name="warn_ellipse_size_lateral_direction" default="0.2"/>
<arg name="param_file" default="$(find-pkg-share localization_error_monitor)/config/localization_error_monitor.param.yaml"/>

<node name="localization_error_monitor" exec="localization_error_monitor" pkg="localization_error_monitor" output="screen">
<remap from="input/pose_with_cov" to="$(var input/pose_with_cov)"/>
<param name="scale" value="$(var scale)"/>
<param name="error_ellipse_size" value="$(var error_ellipse_size)"/>
<param name="warn_ellipse_size" value="$(var warn_ellipse_size)"/>
<param name="error_ellipse_size_lateral_direction" value="$(var error_ellipse_size_lateral_direction)"/>
<param name="warn_ellipse_size_lateral_direction" value="$(var warn_ellipse_size_lateral_direction)"/>
<param from="$(var param_file)"/>
</node>
</launch>