fix(ekf_localizer): correct the initialization of accumulated_delay_times to obtain accurate computation of delay_time #5821
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…ep is computed accurately. Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>
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…imes to obtain accurate computation of delay_time (autowarefoundation#5821) Correct accumulated_delay_times in ekf_localizer so that the delay_step is computed accurately. Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>
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…imes to obtain accurate computation of delay_time (autowarefoundation#5821) Correct accumulated_delay_times in ekf_localizer so that the delay_step is computed accurately. Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> Signed-off-by: karishma <karishma@interpl.ai>
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…imes to obtain accurate computation of delay_time (autowarefoundation#5821) Correct accumulated_delay_times in ekf_localizer so that the delay_step is computed accurately. Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp> Signed-off-by: karishma <karishma@interpl.ai>
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…imes to obtain accurate computation of delay_time (autowarefoundation#5821) Correct accumulated_delay_times in ekf_localizer so that the delay_step is computed accurately. Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>
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…imes to obtain accurate computation of delay_time (autowarefoundation#5821) Correct accumulated_delay_times in ekf_localizer so that the delay_step is computed accurately. Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>
karishma1911
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May 28, 2024
…imes to obtain accurate computation of delay_time (autowarefoundation#5821) Correct accumulated_delay_times in ekf_localizer so that the delay_step is computed accurately. Signed-off-by: TaikiYamada4 <taiki.yamada@tier4.jp>
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Description
In the recent PR of ekf localizer, a new variable
accumulated_delay_times_have been introduced so that the calculation ofdelay_stepinupdateMeasurementPose/Twist()will not be distorted when the timer callback has unintended time periods.However, the initialization of thefirst element of
accumulated_delay_times_wasekf_dtseconds large while it should zero, which leads to a computation error ofdelay_stepthat will be one step earlier.This PR should fix that.
Tests performed
Tested and worked well in the rosbag replay simulation tutorial.
Also, tested with TIER IV internal rosbags too.
Effects on system behavior
A few millimeters of localization error proportional to the twist will be relieved.
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