From 98bea33cb49dc8a7dad5f329dd89dbfae4642596 Mon Sep 17 00:00:00 2001 From: rafal-gorecki Date: Mon, 13 Nov 2023 14:06:39 +0100 Subject: [PATCH] Update ekf.yaml --- .github/workflows/industrial_ci.yaml | 2 +- rosbot_xl_bringup/config/ekf.yaml | 10 +++++----- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/.github/workflows/industrial_ci.yaml b/.github/workflows/industrial_ci.yaml index b0dc899a..ed666a05 100644 --- a/.github/workflows/industrial_ci.yaml +++ b/.github/workflows/industrial_ci.yaml @@ -34,7 +34,7 @@ jobs: matrix: ROS_DISTRO: [humble] runs-on: ubuntu-latest - timeout-minutes: 12 + timeout-minutes: 16 steps: - uses: actions/checkout@v3 - name: Clone installation requirements diff --git a/rosbot_xl_bringup/config/ekf.yaml b/rosbot_xl_bringup/config/ekf.yaml index 66ecd66e..19323308 100644 --- a/rosbot_xl_bringup/config/ekf.yaml +++ b/rosbot_xl_bringup/config/ekf.yaml @@ -21,7 +21,7 @@ ekf_filter_node: odom0_config: [false, false, false, # X , Y , Z false, false, false, # roll , pitch ,yaw true, true, false, # dX , dY , dZ - false, false, false, # droll , dpitch ,dyaw + false, false, true, # droll , dpitch ,dyaw false, false, false] # ddX , ddY , ddZ odom0_queue_size: 2 @@ -33,7 +33,7 @@ ekf_filter_node: imu0_config: [false, false, false, # X , Y , Z false, false, true, # roll , pitch ,yaw false, false, false, # dX , dY , dZ - false, false, false, # droll , dpitch ,dyaw + false, false, true, # droll , dpitch ,dyaw false, false, false] # ddX , ddY , ddZ imu0_queue_size: 5 imu0_nodelay: true @@ -56,9 +56,9 @@ ekf_filter_node: 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5e-3, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5e-3, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5e-3, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4e-2, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4e-2, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4e-2, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-5]