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doc: Replace parameter tables to JSON Schema ones in README
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Signed-off-by: Motsu-san <masahiro.sakamoto@tier4.jp>
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Motsu-san committed Feb 2, 2024
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46 changes: 7 additions & 39 deletions localization/ekf_localizer/README.md
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Expand Up @@ -78,65 +78,33 @@ The parameters are set in `launch/ekf_localizer.launch` .

### For Node

| Name | Type | Description | Default value |
| :------------------------- | :----- | :---------------------------------------------------------------------------------------- | :------------ |
| show_debug_info | bool | Flag to display debug info | false |
| predict_frequency | double | Frequency for filtering and publishing [Hz] | 50.0 |
| tf_rate | double | Frequency for tf broadcasting [Hz] | 10.0 |
| publish_tf | bool | Whether to publish tf | true |
| extend_state_step | int | Max delay step which can be dealt with in EKF. Large number increases computational cost. | 50 |
| enable_yaw_bias_estimation | bool | Flag to enable yaw bias estimation | true |
{{ json_to_markdown("localization/ekf_localizer/schema/sub/node.sub_schema.json") }}

### For pose measurement

| Name | Type | Description | Default value |
| :---------------------------- | :----- | :------------------------------------------------------------ | :------------ |
| pose_additional_delay | double | Additional delay time for pose measurement [s] | 0.0 |
| pose_measure_uncertainty_time | double | Measured time uncertainty used for covariance calculation [s] | 0.01 |
| pose_smoothing_steps | int | A value for smoothing steps | 5 |
| pose_gate_dist | double | Limit of Mahalanobis distance used for outliers detection | 10000.0 |
{{ json_to_markdown("localization/ekf_localizer/schema/sub/pose_measurement.sub_schema.json") }}

### For twist measurement

| Name | Type | Description | Default value |
| :--------------------- | :----- | :-------------------------------------------------------- | :------------ |
| twist_additional_delay | double | Additional delay time for twist [s] | 0.0 |
| twist_smoothing_steps | int | A value for smoothing steps | 2 |
| twist_gate_dist | double | Limit of Mahalanobis distance used for outliers detection | 10000.0 |
{{ json_to_markdown("localization/ekf_localizer/schema/sub/twist_measurement.sub_schema.json") }}

### For process noise

| Name | Type | Description | Default value |
| :--------------------- | :----- | :--------------------------------------------------------------------------------------------------------------- | :------------ |
| proc_stddev_vx_c | double | Standard deviation of process noise in time differentiation expression of linear velocity x, noise for d_vx = 0 | 2.0 |
| proc_stddev_wz_c | double | Standard deviation of process noise in time differentiation expression of angular velocity z, noise for d_wz = 0 | 0.2 |
| proc_stddev_yaw_c | double | Standard deviation of process noise in time differentiation expression of yaw, noise for d_yaw = omega | 0.005 |
| proc_stddev_yaw_bias_c | double | Standard deviation of process noise in time differentiation expression of yaw_bias, noise for d_yaw_bias = 0 | 0.001 |
{{ json_to_markdown("localization/ekf_localizer/schema/sub/process_noise.sub_schema.json") }}

note: process noise for positions x & y are calculated automatically from nonlinear dynamics.

### Simple 1D Filter Parameters

| Name | Type | Description | Default value |
| :-------------------- | :----- | :---------------------------------------------- | :------------ |
| z_filter_proc_dev | double | Simple1DFilter - Z filter process deviation | 1.0 |
| roll_filter_proc_dev | double | Simple1DFilter - Roll filter process deviation | 0.01 |
| pitch_filter_proc_dev | double | Simple1DFilter - Pitch filter process deviation | 0.01 |
{{ json_to_markdown("localization/ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json") }}

### For diagnostics

| Name | Type | Description | Default value |
| :------------------------------------ | :----- | :----------------------------------------------------------------------------------------------------------------------------------------- | :------------ |
| pose_no_update_count_threshold_warn | size_t | The threshold at which a WARN state is triggered due to the Pose Topic update not happening continuously for a certain number of times. | 50 |
| pose_no_update_count_threshold_error | size_t | The threshold at which an ERROR state is triggered due to the Pose Topic update not happening continuously for a certain number of times. | 250 |
| twist_no_update_count_threshold_warn | size_t | The threshold at which a WARN state is triggered due to the Twist Topic update not happening continuously for a certain number of times. | 50 |
| twist_no_update_count_threshold_error | size_t | The threshold at which an ERROR state is triggered due to the Twist Topic update not happening continuously for a certain number of times. | 250 |
{{ json_to_markdown("localization/ekf_localizer/schema/sub/diagnostics.sub_schema.json") }}

### Misc

| Name | Type | Description | Default value |
| :-------------------------------- | :----- | :------------------------------------------------------------------------------------------------- | :------------- |
| threshold_observable_velocity_mps | double | Minimum value for velocity that will be used for EKF. Mainly used for dead zone in velocity sensor | 0.0 (disabled) |
{{ json_to_markdown("localization/ekf_localizer/schema/sub/misc.sub_schema.json") }}

## How to tune EKF parameters

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