/
localization.param.yaml
47 lines (43 loc) · 1.88 KB
/
localization.param.yaml
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/**:
ros__parameters:
localization:
type: diagnostic_aggregator/AnalyzerGroup
path: localization
analyzers:
node_alive_monitoring:
type: diagnostic_aggregator/AnalyzerGroup
path: node_alive_monitoring
analyzers:
topic_status:
type: diagnostic_aggregator/GenericAnalyzer
path: topic_status
contains: [": localization_topic_status"]
timeout: 1.0
performance_monitoring:
type: diagnostic_aggregator/AnalyzerGroup
path: performance_monitoring
analyzers:
scan_matching_status:
type: diagnostic_aggregator/GenericAnalyzer
path: scan_matching_status
contains: ["ndt_scan_matcher: scan_matching_status"]
timeout: 1.0
localization_error_ellipse:
type: diagnostic_aggregator/GenericAnalyzer
path: localization_error_ellipse
contains: ["localization: localization_error_monitor"]
timeout: 1.0
localization_stability:
type: diagnostic_aggregator/GenericAnalyzer
path: localization_stability
contains: ["localization: pose_instability_detector"]
timeout: 1.0
# This diagnostic should ideally be avoided in terms of Fault Tree Analysis (FTA) compatibility.
# However, we may need this since the localization accuracy is still not reliable enough and may produce
# false positives. Thus, NOTE that this diagnostic should be removed in the future when the localization accuracy
# is reliable enough.
sensor_fusion_status:
type: diagnostic_aggregator/GenericAnalyzer
path: sensor_fusion_status
contains: ["localization: ekf_localizer"]
timeout: 1.0