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SinglePoseSensor.cfg
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SinglePoseSensor.cfg
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#! /usr/bin/env python
# Copyright (C) 2012-2013 Simon Lynen, ASL, ETH Zurich, Switzerland
# You can contact the author at <slynen at ethz dot ch>
# Copyright (C) 2011-2012 Stephan Weiss, ASL, ETH Zurich, Switzerland
# You can contact the author at <stephan dot weiss at ieee dot org>
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
PACKAGE='msf_updates'
import roslib; roslib.load_manifest(PACKAGE)
#from driver_base.msg import SensorLevels
from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()
# @todo Think about levels. Setting most of these to STOP to guarantee atomicity.
# @todo Double check these ranges, defaults
INIT_FILTER = gen.const("INIT_FILTER", int_t, 0x00000001, "core_init_filter")
MISC = gen.const("MISC", int_t, 0x00000002, "misc")
SET_HEIGHT = gen.const("SET_HEIGHT", int_t, 0x00000004, "core_set_height")
# Name Type Reconfiguration level Description Default Min Max
gen.add("core_init_filter", bool_t, INIT_FILTER["value"], "call filter init using defined scale", False)
gen.add("core_set_height", bool_t, SET_HEIGHT["value"], "call filter init using defined height", False)
gen.add("core_height", double_t, MISC["value"], "height in m for init", 1, 0.1, 20)
gen.add("pose_initial_scale", double_t, MISC["value"], "value for initial scale", 1, 0.001, 30)
gen.add("pose_fixed_scale", bool_t, MISC["value"], "fix scale", False)
gen.add("pose_fixed_p_ic", bool_t, MISC["value"], "fix calibration state position", False)
gen.add("pose_fixed_q_ic", bool_t, MISC["value"], "fix calibration state attitude", False)
gen.add("pose_fixed_p_wv", bool_t, MISC["value"], "fix world vision position drift", False)
gen.add("pose_fixed_q_wv", bool_t, MISC["value"], "fix world vision attitude drift", False)
gen.add("pose_noise_scale", double_t, MISC["value"], "propagation: noise scale (std. dev)", 0.0, 0, 10.0)
gen.add("pose_noise_p_wv", double_t, MISC["value"], "propagation: noise p_wv (std. dev)", 0.0, 0, 10.0)
gen.add("pose_noise_q_wv", double_t, MISC["value"], "propagation: noise q_wv (std. dev)", 0.0, 0, 10.0)
gen.add("pose_noise_p_ic", double_t, MISC["value"], "propagation: noise p_ic (std. dev)", 0.0, 0, 10.0)
gen.add("pose_noise_q_ic", double_t, MISC["value"], "propagation: noise q_ic (std. dev)", 0.0, 0, 10.0)
gen.add("pose_noise_meas_p", double_t, MISC["value"], "noise for measurement sensor (std. dev)", 0.01, 0, 10)
gen.add("pose_noise_meas_q", double_t, MISC["value"], "noise for measurement sensor (std. dev)", 0.01, 0, 10)
gen.add("pose_delay", double_t, MISC["value"], "fix delay in seconds", 0.02, -2.0, 2.0)
exit(gen.generate(PACKAGE, "Config", "SinglePoseSensor"))