Commit c2241887 authored by asantamaria's avatar asantamaria

Now working with sonar and laser. possibility to choose in parameters

parent 6fbbc988
......@@ -42,10 +42,12 @@ range_std_outsidebounds: 10.0
range_std_insidebounds: 0.01
range_min: 0.31
range_max: 4.0
using_laser_range: true
# PX4 STD values
px4_std_outsidebounds: [10.0,10.0,10.0]
px4_std_insidebounds: [0.01,0.15,0.15]
using_laser_px4: true
# Flow2d STD values
flow2d_std_outsidebounds: [10.0,10.0]
......
......@@ -146,12 +146,14 @@ void EskfOdomAlgNode::read_and_set_ini_params(void)
this->public_node_handle_.param<double>("range_max", range_max, 0.31);
range_params.range_min = static_cast<float>(range_min);
range_params.range_max = static_cast<float>(range_max);
this->public_node_handle_.param<bool>("using_laser_range", range_params.using_laser, true);
// PX4 STD values
Sensor::px4_params px4_params;
px4_params.std_outsidebounds = read_vec("px4_std_outsidebounds", 3);
px4_params.std_insidebounds = read_vec("px4_std_insidebounds", 3);
px4_params.std = px4_params.std_outsidebounds;
this->public_node_handle_.param<bool>("using_laser_px4", px4_params.using_laser, true);
// Flow2d STD values
Sensor::flow2d_params flow2d_params;
......
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