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Update ukf.yaml to match ekf.yaml #867

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Mar 15, 2024
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Update ukf.yaml to match ekf.yaml #867

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7 changes: 7 additions & 0 deletions params/ukf.yaml
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Expand Up @@ -110,6 +110,13 @@ ukf_filter_node:
# difference is that the relative parameter doesn't cause the measurement to be converted to a velocity before
# integrating it. If you simply want your measurements to start at 0 for a given sensor, set this to true.
odom0_relative: false

# [ADVANCED] Whether to use the starting pose of child_frame_id as the origin of odometry.
# Note: this is different from setting odom0_relative to true, as when child_frame is different from
# base_link_frame, the rotation of base_link will be coupled into the translation of child_frame.
# Set to true for fusing secondary odometry sources that are rigidly connected to base_link but has a non-zero
# offset from base_link.
odom0_pose_use_child_frame: false

# [ADVANCED] If your data is subject to outliers, use these threshold settings, expressed as Mahalanobis distances, to
# control how far away from the current vehicle state a sensor measurement is permitted to be. Each defaults to
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