-
Notifications
You must be signed in to change notification settings - Fork 148
/
eagleye_config.yaml
180 lines (156 loc) · 5 KB
/
eagleye_config.yaml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
/**: #GNSS cycle 5Hz, IMU cycle 50Hz.
ros__parameters:
# Estimate mode
use_gnss_mode: RTKLIB
use_can_less_mode: false
# Topic
twist:
twist_type: 0 # TwistStamped : 0, TwistWithCovarianceStamped: 1
twist_topic: /can_twist
imu_topic: /imu/data_raw
gnss:
velocity_source_type: 0 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3
velocity_source_topic: /rtklib_nav
llh_source_type: 0 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, sensor_msgs/NavSatFix: 2
llh_source_topic: /rtklib_nav
sub_gnss:
llh_source_type: 1 # nmea_msgs/Sentence: 1, sensor_msgs/NavSatFix: 2
llh_source_topic: /sensing/sub_gnss/nmea_sentence
# TF
tf_gnss_frame:
parent: "base_link"
child: "gnss"
# Origin of GNSS coordinates (ECEF to ENU)
ecef_base_pos:
x : 0.0
y : 0.0
z : 0.0
use_ecef_base_position : false
# Eagleye Navigation Parameters
# Basic Navigation Functions
common:
imu_rate: 50
gnss_rate: 5
stop_judgment_threshold: 0.01
slow_judgment_threshold: 0.278
moving_judgment_threshold: 2.78
velocity_scale_factor:
estimated_minimum_interval: 20
estimated_maximum_interval: 400
gnss_receiving_threshold: 0.25
velocity_scale_factor_save_str: /config/velocity_scale_factor.txt
save_velocity_scale_factor: false
velocity_scale_factor_save_duration: 100.0
th_velocity_scale_factor_percent: 10.0
yaw_rate_offset_stop:
estimated_interval: 4
outlier_threshold: 0.002
yaw_rate_offset:
estimated_minimum_interval: 30
gnss_receiving_threshold: 0.25
outlier_threshold: 0.002
1st:
estimated_maximum_interval: 300
2nd:
estimated_maximum_interval: 500
heading:
estimated_minimum_interval: 10
estimated_maximum_interval: 30
gnss_receiving_threshold: 0.25
outlier_threshold: 0.0524
outlier_ratio_threshold: 0.5
curve_judgment_threshold: 0.0873
init_STD: 0.0035 #[rad] (= 0.2 [deg])
skip_static_initialization: false
yaw_rate_offset_stop_in_skip_mode: 0.0
heading_interpolate:
sync_search_period: 2
proc_noise: 0.0005 #[rad] (= 0.03 [deg])
slip_angle:
manual_coefficient: 0.0
slip_coefficient:
estimated_minimum_interval: 2
estimated_maximum_interval: 100
curve_judgment_threshold: 0.017453
lever_arm: 0.0
rolling:
filter_process_noise: 0.01
filter_observation_noise: 1
trajectory:
curve_judgment_threshold: 0.017453
timer_update_rate: 10
deadlock_threshold: 1
sensor_noise_velocity: 0.05
sensor_scale_noise_velocity: 0.02
sensor_noise_yaw_rate: 0.01
sensor_bias_noise_yaw_rate: 0.1
smoothing:
moving_average_time: 3
moving_ratio_threshold: 0.1
height:
estimated_minimum_interval: 200
estimated_maximum_interval: 2000
update_distance: 0.1
gnss_receiving_threshold: 0.1
outlier_threshold: 0.3
outlier_ratio_threshold: 0.5
moving_average_time: 1
position:
estimated_interval: 300
update_distance: 0.1
outlier_threshold: 3.0
gnss_receiving_threshold: 0.25
outlier_ratio_threshold: 0.5
gnss_error_covariance: 0.5 #[m]
position_interpolate:
sync_search_period: 2
proc_noise: 0.05 #[m]
monitor:
print_status: true
log_output_status: false
use_compare_yaw_rate: false
comparison_twist_topic: /calculated_twist
th_diff_rad_per_sec: 0.17453
th_num_continuous_abnormal_yaw_rate: 25
# Optional Navigation Functions
angular_velocity_offset_stop:
estimated_interval: 4
outlier_threshold: 0.002
rtk_dead_reckoning:
rtk_fix_STD: 0.3 #[m]
proc_noise: 0.05 #[m]
rtk_heading:
update_distance: 0.3
estimated_minimum_interval: 10
estimated_maximum_interval: 30
gnss_receiving_threshold: 0.25
outlier_threshold: 0.0524
outlier_ratio_threshold: 0.5
curve_judgment_threshold: 0.0873
enable_additional_rolling:
update_distance: 0.3
moving_average_time: 1
sync_judgment_threshold: 0.01
sync_search_period: 1
velocity_estimator:
gga_downsample_time: 0.5
stop_judgment_velocity_threshold: 0.2
stop_judgment_interval: 1
variance_threshold: 0.000025
pitch_rate_offset:
estimated_interval: 8
pitching:
estimated_interval: 5
outlier_threshold: 0.0174
gnss_receiving_threshold: 0.2
outlier_ratio_threshold: 0.5
acceleration_offset:
estimated_minimum_interval: 30
estimated_maximum_interval: 500
filter_process_noise: 0.01
filter_observation_noise: 1
doppler_fusion:
estimated_interval: 4
gnss_receiving_threshold: 0.2
outlier_ratio_threshold: 0.5
outlier_threshold: 0.1