feat(ekf_localizer): add covariance ellipse diagnostics (autowarefoun…

…dation#1041) * Added ellipse diagnostics to ekf Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed to ellipse_scale Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> --------- Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
mitukou1109 · Jul 1, 2024 · 48dcf87 · 48dcf87
1 parent d076aa5
commit 48dcf87
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml
@@ -39,6 +39,11 @@
       pose_no_update_count_threshold_error: 100
       twist_no_update_count_threshold_warn: 50
       twist_no_update_count_threshold_error: 100
+      ellipse_scale: 3.0
+      error_ellipse_size: 1.5
+      warn_ellipse_size: 1.2
+      error_ellipse_size_lateral_direction: 0.3
+      warn_ellipse_size_lateral_direction: 0.25
 
     misc:
       # for velocity measurement limitation (Set 0.0 if you want to ignore)