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feat(localization_error_monitor): add a config file (autowarefoundati…
…on#1282) * feat(localization_error_monitor): add a config file Signed-off-by: kminoda <koji.m.minoda@gmail.com> * ci(pre-commit): autofix * feat(localization_error_monitor): add a config file in tier4_localization_launch too Signed-off-by: kminoda <koji.m.minoda@gmail.com> * ci(pre-commit): autofix * debugged Signed-off-by: kminoda <koji.m.minoda@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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7 changes: 7 additions & 0 deletions
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launch/tier4_localization_launch/config/localization_error_monitor.param.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,7 @@ | ||
| /**: | ||
| ros__parameters: | ||
| scale: 3.0 | ||
| error_ellipse_size: 1.0 | ||
| warn_ellipse_size: 0.8 | ||
| error_ellipse_size_lateral_direction: 0.3 | ||
| warn_ellipse_size_lateral_direction: 0.2 |
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7 changes: 7 additions & 0 deletions
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localization/localization_error_monitor/config/localization_error_monitor.param.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,7 @@ | ||
| /**: | ||
| ros__parameters: | ||
| scale: 3.0 | ||
| error_ellipse_size: 1.0 | ||
| warn_ellipse_size: 0.8 | ||
| error_ellipse_size_lateral_direction: 0.3 | ||
| warn_ellipse_size_lateral_direction: 0.2 |
12 changes: 2 additions & 10 deletions
12
localization/localization_error_monitor/launch/localization_error_monitor.launch.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,17 +1,9 @@ | ||
| <launch> | ||
| <arg name="input/pose_with_cov" default="/localization/pose_with_covariance"/> | ||
| <arg name="scale" default="3.0"/> | ||
| <arg name="error_ellipse_size" default="1.0"/> | ||
| <arg name="warn_ellipse_size" default="0.8"/> | ||
| <arg name="error_ellipse_size_lateral_direction" default="0.3"/> | ||
| <arg name="warn_ellipse_size_lateral_direction" default="0.2"/> | ||
| <arg name="param_file" default="$(find-pkg-share localization_error_monitor)/config/localization_error_monitor.param.yaml"/> | ||
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| <node name="localization_error_monitor" exec="localization_error_monitor" pkg="localization_error_monitor" output="screen"> | ||
| <remap from="input/pose_with_cov" to="$(var input/pose_with_cov)"/> | ||
| <param name="scale" value="$(var scale)"/> | ||
| <param name="error_ellipse_size" value="$(var error_ellipse_size)"/> | ||
| <param name="warn_ellipse_size" value="$(var warn_ellipse_size)"/> | ||
| <param name="error_ellipse_size_lateral_direction" value="$(var error_ellipse_size_lateral_direction)"/> | ||
| <param name="warn_ellipse_size_lateral_direction" value="$(var warn_ellipse_size_lateral_direction)"/> | ||
| <param from="$(var param_file)"/> | ||
| </node> | ||
| </launch> |