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feat(deviation_estimator): use yaw stddev instead of max for stddev gyro #140

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merged 4 commits into from
Oct 26, 2023
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feat(deviation_estimator): use yaw stddev instead of max for stddev gyro #140

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69c0fab
feat(deviation_estimator): use min instead of max for stddev gyro
kminoda Oct 25, 2023
3f75ad1
ci(pre-commit): autofix
pre-commit-ci[bot] Oct 25, 2023
08c1d29
update
kminoda Oct 26, 2023
0df824c
ci(pre-commit): autofix
pre-commit-ci[bot] Oct 26, 2023
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10 changes: 6 additions & 4 deletions localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -316,10 +316,12 @@ void DeviationEstimator::timer_callback()
stddev_vx_msg.data = stddev_vx;
pub_stddev_vx_->publish(stddev_vx_msg);

double stddev_angvel_imu = 0.0;
stddev_angvel_imu = std::max(stddev_angvel_imu, stddev_angvel_base.x);
stddev_angvel_imu = std::max(stddev_angvel_imu, stddev_angvel_base.y);
stddev_angvel_imu = std::max(stddev_angvel_imu, stddev_angvel_base.z);
// For IMU link standard deviation, we use the yaw standard deviation in base_link.
// This is because the standard deviation estimation of x and y in base_link may not be accurate
// especially when the data contains a motion when the people are getting on/off the vehicle,
// which causes the vehicle to tilt in roll and pitch. In this case, we would like to use the
// standard deviation of yaw axis in base_link.
double stddev_angvel_imu = stddev_angvel_base.z;
geometry_msgs::msg::Vector3 stddev_angvel_imu_msg =
createVector3(stddev_angvel_imu, stddev_angvel_imu, stddev_angvel_imu);
pub_stddev_angvel_->publish(stddev_angvel_imu_msg);
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