From 15314a971066f860d71bcfea5b04272018b695d4 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Wed, 20 Sep 2023 11:34:52 +0900 Subject: [PATCH] feat(ekf_lolicazer): add diagnostics parameters (#554) * feat(ekf_lolicazer): add diagnostics parameters Signed-off-by: yamato-ando * remote param Signed-off-by: yamato-ando --------- Signed-off-by: yamato-ando Co-authored-by: yamato-ando --- .../config/localization/ekf_localizer.param.yaml | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml index 4d3f5b9643..8b24b79e71 100644 --- a/autoware_launch/config/localization/ekf_localizer.param.yaml +++ b/autoware_launch/config/localization/ekf_localizer.param.yaml @@ -21,3 +21,9 @@ proc_stddev_yaw_c: 0.005 proc_stddev_vx_c: 10.0 proc_stddev_wz_c: 5.0 + + # for diagnostics + pose_no_update_count_threshold_warn: 50 + pose_no_update_count_threshold_error: 250 + twist_no_update_count_threshold_warn: 50 + twist_no_update_count_threshold_error: 250