From 4b5c7bf0207228960745aae83e70131d41c9692a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Miguel=20=C3=81ngel=20Gonz=C3=A1lez=20Santamarta?= Date: Sun, 20 Feb 2022 17:14:58 +0100 Subject: [PATCH] new localization config --- rover_localization/config/ekf.yaml | 4 ++-- .../launch/rgbd_odometry.launch.py | 23 +++++++++++++++++-- 2 files changed, 23 insertions(+), 4 deletions(-) diff --git a/rover_localization/config/ekf.yaml b/rover_localization/config/ekf.yaml index 2db81d1..fb0ca7d 100644 --- 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 index 1827fd0..88c8e87 100644 --- 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 = [