new localization config

mgonzs13 · Feb 20, 2022 · 4b5c7bf · 4b5c7bf
1 parent bbdfc62
commit 4b5c7bf
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Showing 2 changed files with 23 additions and 4 deletions.
diff --git a/rover_localization/config/ekf.yaml b/rover_localization/config/ekf.yaml
@@ -12,7 +12,7 @@ ekf_filter_node:
     print_diagnostics: true
     debug: false
 
-    permit_corrected_publication: true
+    permit_corrected_publication: false
     publish_acceleration: true
     publish_tf: true
 
@@ -36,7 +36,7 @@ ekf_filter_node:
         # lineal vel
         true,
         true,
-        false,
+        true,
 
         # angular vel
         false,

diff --git a/rover_localization/launch/rgbd_odometry.launch.py b/rover_localization/launch/rgbd_odometry.launch.py
@@ -11,10 +11,29 @@ def generate_launch_description():
         "publish_tf": False,
         "wait_imu_to_init": False,
 
-        "GFTT/MinDistance": "2.5",
+        "Optimizer/Strategy": "1",
+        "Optimizer/GravitySigma": "0.0",
+
+        "GFTT/MinDistance": "10",
         "GFTT/QualityLevel": "0.1",
+
+        "SURF/Extended": "true",
+        "SURF/Upright": "true",
+
+        "SIFT/NFeatures": "500",
+        "SIFT/NOctaveLayers": "5",
+
+        "FREAK/OrientationNormalized": "true",
+        "FREAK/ScaleNormalized": "true",
+
+        "KAZE/Extended": "true",
+        "KAZE/Upright": "true",
+
         "Vis/CorGuessWinSize": "40",
-        "Vis/MaxFeatures": "1000"
+        "Vis/CorType": "0",
+        "Vis/MaxFeatures": "1000",
+        "Vis/MinDepth": "0.0",
+        "Vis/MaxDepth": "2.5",
     }]
 
     remappings = [