fix(vehicle_velocity_converter): rename yaml file (autowarefoundation…

…#302) * fix(vehicle_velocity_converter): rename yaml file Signed-off-by: YamatoAndo <yamato.ando@gmail.com> * arrange the matrix Signed-off-by: YamatoAndo <yamato.ando@gmail.com>
badai-nguyen · Jan 25, 2022 · c2f04c9 · c2f04c9
1 parent 90a8b6a
commit c2f04c9
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Showing 3 changed files with 13 additions and 43 deletions.
diff --git a/localization/vehicle_velocity_converter/config/vehicle_velocity_converter.param.yaml b/localization/vehicle_velocity_converter/config/vehicle_velocity_converter.param.yaml
@@ -0,0 +1,12 @@
+/**:
+  ros__parameters:
+    frame_id: base_link
+    twist_covariance:
+      [
+        0.04, 0.0,     0.0,     0.0,     0.0,     0.0,
+        0.0,  10000.0, 0.0,     0.0,     0.0,     0.0,
+        0.0,  0.0,     10000.0, 0.0,     0.0,     0.0,
+        0.0,  0.0,     0.0,     10000.0, 0.0,     0.0,
+        0.0,  0.0,     0.0,     0.0,     10000.0, 0.0,
+        0.0,  0.0,     0.0,     0.0,     0.0,     0.01,
+      ]
diff --git a/localization/vehicle_velocity_converter/config/vehicle_velocity_converter.yaml b/localization/vehicle_velocity_converter/config/vehicle_velocity_converter.yaml
diff --git a/localization/vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml b/localization/vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml
@@ -1,7 +1,7 @@
 <launch>
   <arg name="input_vehicle_velocity_topic" default="velocity_status"/>
   <arg name="output_twist_with_covariance" default="twist_with_covariance"/>
-  <arg name="config_file" default="$(find-pkg-share vehicle_velocity_converter)/config/vehicle_velocity_converter.yaml"/>
+  <arg name="config_file" default="$(find-pkg-share vehicle_velocity_converter)/config/vehicle_velocity_converter.param.yaml"/>
 
   <node pkg="vehicle_velocity_converter" exec="vehicle_velocity_converter" name="vehicle_velocity_converter_node" output="screen">
     <param from="$(var config_file)"/>