From ebd55cc8a7d88153e20271c4626eb4a1508171fd Mon Sep 17 00:00:00 2001 From: RyuYamamoto Date: Fri, 27 Sep 2024 14:46:38 +0900 Subject: [PATCH] feat(pose_initializer): add new parameter for check error between initial pose and GNSS pose (#1180) * add pose_error_check_enabled parameter Signed-off-by: RyuYamamoto * change default value Signed-off-by: RyuYamamoto --------- Signed-off-by: RyuYamamoto --- autoware_launch/config/localization/pose_initializer.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/config/localization/pose_initializer.param.yaml b/autoware_launch/config/localization/pose_initializer.param.yaml index 90ec78257e..80e0b4aac1 100644 --- a/autoware_launch/config/localization/pose_initializer.param.yaml +++ b/autoware_launch/config/localization/pose_initializer.param.yaml @@ -6,6 +6,8 @@ gnss_pose_timeout: 3.0 # [sec] stop_check_duration: 3.0 # [sec] + pose_error_threshold: 5.0 # [m] + pose_error_check_enabled: false ekf_enabled: $(var ekf_enabled) gnss_enabled: $(var gnss_enabled) yabloc_enabled: $(var yabloc_enabled)