From b48be31d85188a96133d0af489545076a5e44387 Mon Sep 17 00:00:00 2001 From: Henry Moore Date: Fri, 8 Nov 2024 20:33:59 +0000 Subject: [PATCH] use more visually pleasing parameters --- fuse_tutorials/config/fuse_apriltag_tutorial.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/fuse_tutorials/config/fuse_apriltag_tutorial.yaml b/fuse_tutorials/config/fuse_apriltag_tutorial.yaml index d91d4752..86bbfd8a 100644 --- a/fuse_tutorials/config/fuse_apriltag_tutorial.yaml +++ b/fuse_tutorials/config/fuse_apriltag_tutorial.yaml @@ -2,9 +2,9 @@ state_estimator: ros__parameters: # Fixed-lag smoother configuration - optimization_frequency: 20.0 + optimization_frequency: 100.0 transaction_timeout: 0.01 - lag_duration: 0.5 + lag_duration: 0.1 # all our sensors will be using this motion model motion_models: @@ -49,4 +49,4 @@ state_estimator: map_frame_id: 'map' world_frame_id: 'odom' publish_tf: true - publish_frequency: 10.0 + publish_frequency: 100.0