Closed yvzksgl closed 1 year ago
@kminoda :pray:
proc_stddev_yaw_c
is a process noise and not observation noise. It is irrelevant to the sensors, but to the kinematics model.
The estimated covariance for IMU and velocity should be reflected in imu_corrector
and vehicle_velocity_converter
, respectively. Those would be eventually merged into /localization/twist_estimator/twist_with_covariance
with the covariance reflected.
So the answer is: Please reflect those estimated parameters not in ekf_localizer
but to imu_corrector
and vehicle_velocity_converter
.
İ understand thank yo for your response. Have a nice week.
Hello,
I have a question about how to estimate
ekf_localizer
parameters with usingdeviation_estimator
tool. Readme says:The node also estimates the standard deviation of velocity and yaw rate. This can be used as a parameter in ekf_localizer.
But the node's outputs are imu_corrector.param.yaml and vehicle_velocity_converter.param.yaml files' parameters. Can I transformto
In short i want to use deviation_estimator tool to optimize ekf_localizer parameters, but i cannot find a way to do that.