| odom_frame: |
| Type |
Default |
| odom_frame |
odom |
- Description
Default local frame id of the robot. For namespace setup, set the frame id with “/” at the beginning
|
|---|
| base_frame: |
| Type |
Default |
| base_frame |
base_link |
- Description
Default base frame id of the robot. For namespace setup, set the frame id with “/” at the beginning
|
|---|
| scan_topic: |
| Type |
Default |
| scan_topic |
scan |
- Description
Default scan topic for the localization to subscribe to.
For differential robots from Neobotix, it’s always lidar_1/scan_filtered
For namespace setup, set the topic without “/” at the beginning.
|
|---|
| map_topic: |
| Type |
Default |
| map_topic |
map |
- Description
Default map topic for the localization to subscribe to.
|
|---|
| map_frame: |
| Type |
Default |
| map_frame |
map |
- Description
Default broadcasted map frame.
|
|---|
| update_gain: |
- Description
exponential low pass gain for localization update (0 to 1)
|
|---|
| confidence_gain: |
|---|
| |
- Description
time based confidence gain when in 2D / 1D mode
|
| sample_rate: |
- Description
how many particles (samples) to spread (per update)
|
|---|
| loc_update_rate: |
|---|
| |
- Description
localization update rate [1/s]
|
| map_update_rate: |
|---|
| |
- Description
map tile update rate [1/s]
|
| map_size: |
- Description
map tile size in pixels
|
|---|
| map_downscale: |
- Description
how often to downscale (half) the original map
|
|---|
| num_smooth: |
- Description
how many 3x3 gaussian smoothing iterations are applied to the map
|
|---|
| min_score: |
- Description
minimum score for valid localization (otherwise 0D mode), higher values make it go into 0D mode earlier.
|
|---|
| odometry_std_xy: |
|---|
| |
- Description
odometry error in x and y [m/m], how fast to increase particle spread when in 1D / 0D mode
|
| odometry_std_yaw: |
|---|
| |
- Description
odometry error in yaw angle [rad/rad], how fast to increase particle spread when in 1D / 0D mode
|
| min_sample_std_xy: |
|---|
| |
| Type |
Default |
| double |
0.025 |
- Description
minimum particle spread in x and y [m]
|
| min_sample_std_yaw: |
|---|
| |
- Description
initial/maximum particle spread in yaw angle [rad]
|
| constrain_threshold: |
|---|
| |
- Description
threshold for 1D / 2D position decision making (minimum average second order gradient) if worst gradient direction is below this value we go into 1D mode if both gradient directions are below we may go into 0D mode, depending on disable_threshold higher values will make it go into 1D / 0D mode earlier
|
| constrain_threshold_yaw: |
|---|
| |
- Description
threshold for 1D / 2D decision making (with or without orientation) higher values will make it go into 1D mode earlier
|
| min_points: |
- Description
minimum number of points per update
|
|---|
| solver_gain: |
- Description
solver update gain, lower gain = more stability / slower convergence
|
|---|
| solver_damping: |
| Type |
Default |
| double |
1000.0 |
- Description
solver update damping, higher damping = more stability / slower convergence
|
|---|
| solver_iteration: |
|---|
| |
- Description
number of gauss-newton iterations per sample per scan
|
| transform_timeout: |
|---|
| |
- Description
maximum wait for getting transforms [s]
|
| broadcast_tf: |
- Description
if to broadcast map frame
|
|---|