typos and sensor var names matched

launch/params.yaml

@@ -22,14 +22,11 @@ imu_method: discrete #Sets the data time nature (continous: simulated IMU or dis
 px4_std_outsidebounds: [10.0,10.0,10.0]
 px4_std_insidebounds: [0.01,0.15,0.15]
 
-
 # Range STD values
-range_std_landed: 0.1
 range_std_outsidebounds: 10.0
 range_std_insidebounds: 0.01
 
 # Flow2d STD values
-flow2d_std_landed: [0.001,0.001]
 flow2d_std_outsidebounds: [10.0,10.0]
 flow2d_std_insidebounds: [0.15,0.15]
 flow2d_focal_length: 0.016

src/eskf_odom_alg_node.cpp

@@ -100,21 +100,18 @@ void EskfOdomAlgNode::read_and_set_ini_params(void)
 
   // Range STD values
   Sensor::range_params range_params;
-  double std_landed, std_outsidebounds, std_insidebounds;
-  this->public_node_handle_.param<double>("range_std_landed", std_landed, 0.1);
+  double std_outsidebounds, std_insidebounds;
   this->public_node_handle_.param<double>("range_std_outsidebounds", std_outsidebounds, 10.0);
   this->public_node_handle_.param<double>("range_std_insidebounds", std_insidebounds, 0.01);
-  range_params.std_landed = static_cast<float>(std_landed);
   range_params.std_outsidebounds = static_cast<float>(std_outsidebounds);
   range_params.std_insidebounds = static_cast<float>(std_insidebounds);
-  range_params.std = range_params.std_landed; // Considering initially landed
+  range_params.std = range_params.std_outsidebounds; // Considering initially landed
 
   // Flow2d STD values
   Sensor::flow2d_params flow2d_params;
-  flow2d_params.std_landed = read_vec("flow2d_std_landed", 2);
   flow2d_params.std_outsidebounds = read_vec("flow2d_std_outsidebounds", 2);
   flow2d_params.std_insidebounds = read_vec("flow2d_std_insidebounds", 2);
-  flow2d_params.std = flow2d_params.std_landed; // Considering initially landed
+  flow2d_params.std = flow2d_params.std_outsidebounds; // Considering initially landed
   double focal_length;
   this->public_node_handle_.param<double>("flow2d_focal_length", focal_length, 0.016);
   flow2d_params.focal_length = static_cast<float>(focal_length);