2D mode

RoboJackets · Dec 8, 2024 · 5baeea5 · 5baeea5
1 parent 15f6554
commit 5baeea5
Showing 1 changed file with 18 additions and 18 deletions.
diff --git a/urc_localization/config/ekf.yaml b/urc_localization/config/ekf.yaml
@@ -2,7 +2,7 @@ ekf_filter_node_odom:
   ros__parameters:
     frequency: 30.0
     sensor_timeout: 5.0
-    two_d_mode: false
+    two_d_mode: true
     transform_time_offset: 0.0
     transform_timeout: 0.0
     print_diagnostics: true
@@ -14,20 +14,20 @@ ekf_filter_node_odom:
     world_frame: odom
 
     imu0: /imu/data
-    imu0_config: [false, false, false,
-                      true,  true,  true,
-                      false, false, false,
-                      true,  true,  true,
-                      true,  true,  true]
+    imu0_config: [true, true, false,
+                      false, false, true,
+                      true, true, false,
+                      false, false, true,
+                      true, true, false]
     imu0_differential: true
     imu0_relative: false
     imu0_queue_size: 10
     imu_remove_gravitational_acceleration: false
 
     odom0: /rover_drivetrain_controller/odom
-    odom0_config: [true, true, true,
-                 false, false, false,
-                 true, true, true,
+    odom0_config: [true, true, false,
+                 false, false, true,
+                 true, true, false,
                  false, false, false,
                  false, false, false]
     odom0_differential: false
@@ -110,21 +110,21 @@ ekf_filter_node_map:
     odom0_relative: false
 
     odom1: /rover_drivetrain_controller/odom
-    odom1_config: [true, true, true,
-                 false, false, false,
-                 true, true, true,
+    odom1_config: [true, true, false,
+                 false, false, true,
+                 true, true, false,
                  false, false, false,
                  false, false, false]
     odom1_differential: false
     odom1_relative: true
     odom1_queue_size: 10
 
     imu0: /imu/data
-    imu0_config: [false, false, false,
-                      true,  true,  true,
-                      false, false, false,
-                      true,  true,  true,
-                      true,  true,  true]
+    imu0_config: [true, true, false,
+                      false, false, true,
+                      true, true, false,
+                      false, false, true,
+                      true, true, false]
     imu0_differential: true
     imu0_relative: false
     imu0_queue_size: 10
@@ -172,7 +172,7 @@ navsat_transform:
         frequency: 30.0
         # Delay time, in seconds, before we calculate the transform from the UTM frame to your world frame.
         delay: 5.0
-        magnetic_declination_radians: 0.0
+        magnetic_declination_radians: -0.06736971
         yaw_offset: 1.57079632679
         zero_altitude: false
         broadcast_utm_transform: true