### ekf config file ###ekf_filter_node:ros__parameters:# The frequency, in Hz, at which the filter will output a position estimate. Note that the filter will not begin# computation until it receives at least one message from one of the inputs. It will then run continuously at the# frequency specified here, regardless of whether it receives more measurements. Defaults to 30 if unspecified.frequency:30.0# ekf_localization_node and ukf_localization_node both use a 3D omnidirectional motion model. If this parameter is# set to true, no 3D information will be used in your state estimate. Use this if you are operating in a planar# environment and want to ignore the effect of small variations in the ground plane that might otherwise be detected# by, for example, an IMU. Defaults to false if unspecified.two_d_mode:false# Whether to publish the acceleration state. Defaults to false if unspecified.publish_acceleration:true# Whether to broadcast the transformation over the /tf topic. Defaults to true if unspecified.publish_tf:true# 1. Set the map_frame, odom_frame, and base_link frames to the appropriate frame names for your system.# 1a. If your system does not have a map_frame, just remove it, and make sure "world_frame" is set to the value of odom_frame.# 2. If you are fusing continuous position data such as wheel encoder odometry, visual odometry, or IMU data, set "world_frame" # to your odom_frame value. This is the default behavior for robot_localization's state estimation nodes.# 3. If you are fusing global absolute position data that is subject to discrete jumps (e.g., GPS or position updates from landmark # observations) then:# 3a. Set your "world_frame" to your map_frame value# 3b. MAKE SURE something else is generating the odom->base_link transform. Note that this can even be another state estimation node # from robot_localization! However, that instance should *not* fuse the global data.map_frame: map # Defaults to "map" if unspecifiedodom_frame: odom # Defaults to "odom" if unspecifiedbase_link_frame: base_link # Defaults to "base_link" if unspecifiedworld_frame: odom # Defaults to the value of odom_frame if unspecified# odom0: /odom_diff# odom0_config: [true, true, true,# false, false, false,# false, false, true,# false, false, false,# false, false, false]odom0: /odom_diff
odom0_config:[false,false,false,false,false,false,true,true,true,false,false,false,false,false,false]imu0: /imu_data
imu0_config:[false,false,false,true,true,true,false,false,false,false,false,false,false,false,false]