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test_se_node_interfaces.yaml
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# <!-- YAML file for test_se_node_interfaces -->
test_se_node_interfaces:
ros__parameters:
frequency: 30.0
sensor_timeout: 1000.
odom0: /odom_input0
odom1: /odom_input1
odom2: /odom_input2
pose0: /pose_input0
pose1: /pose_input1
twist0: /twist_input0
imu0: /imu_input0
imu1: /imu_input1
imu2: /imu_input2
imu3: /imu_input3
odom0_config: [true, false, true,
false, false, false,
false, false, false,
false, false, false,
false, false, false]
odom0_relative: false
odom1_config: [true, true, true,
true, true, true,
false, false, false,
false, false, false,
false, false, false]
odom1_relative: false
odom2_config: [false, false, false,
false, false, false,
true, true, true,
true, true, true,
false, false, false]
odom2_relative: false
pose0_config: [true, false, true,
false, false, false,
false, false, false,
false, false, false,
false, false, false]
pose1_config: [true, true, true,
true, true, true,
false, false, false,
false, false, false,
false, false, false]
twist0_config: [false, false, false,
false, false, false,
true, true, true,
true, true, true,
false, false, false]
imu0_config: [false, false, false,
true, true, true,
false, false, false,
false, false, false,
false, false, false]
imu1_config: [false, false, false,
false, false, false,
false, false, false,
true, true, true,
false, false, false]
imu2_config: [false, false, false,
false, false, false,
false, false, false,
false, false, false,
true, true, true]
imu3_config: [false, false, false,
true, true, true,
false, false, false,
false, false, false,
false, false, false]
odom1_differential: true
pose1_differential: true
imu3_differential: true
print_diagnostics: false
odom_frame: odom
base_link_frame: base_link
process_noise_covariance: [1e-6, 1e-6, 1e-6, 1e-6, 1e-6, 1e-6, 0.025, 0.025, 0.05, 0.002, 0.002, 0.004, 0.01, 0.01, 0.01]
# UKF-specific settings that the EKF will ignore
alpha: 0.001
kappa: 0.0
beta: 2.0