feat(ekf_localizer): ignore dead band of velocity sensor

Signed-off-by: kminoda <[email protected]>
autowarefoundation · Sep 20, 2023 · 114a022 · 114a022
1 parent cb55e83
commit 114a022
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml
@@ -21,3 +21,6 @@
     proc_stddev_yaw_c: 0.005
     proc_stddev_vx_c: 10.0
     proc_stddev_wz_c: 5.0
+
+    # for velocity measurement limitation (Set 0.0 if you want to ignore)
+    threshold_observable_velocity_mps: 0.0 # [m/s]