feat(localization_error_monitor): add a config file (#395)

* feat(localization_error_monitor): add a config file Signed-off-by: kminoda <koji.m.minoda@gmail.com> * ci(pre-commit): autofix * debugged Signed-off-by: kminoda <koji.m.minoda@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Jul 8, 2022 · 0cccc81 · 0cccc81
1 parent 2670c61
commit 0cccc81
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Showing 2 changed files with 8 additions and 5 deletions.
diff --git a/localization_launch/config/localization_error_monitor.param.yaml b/localization_launch/config/localization_error_monitor.param.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    scale: 3.0
+    error_ellipse_size: 1.0
+    warn_ellipse_size: 0.8
+    error_ellipse_size_lateral_direction: 0.3
+    warn_ellipse_size_lateral_direction: 0.2
diff --git a/localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml b/localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml
@@ -2,10 +2,6 @@
 <launch>
     <include file="$(find-pkg-share localization_error_monitor)/launch/localization_error_monitor.launch.xml">
       <arg name="input/pose_with_cov" value="/localization/pose_with_covariance" />
-      <arg name="scale" value="3.0" />
-      <arg name="error_ellipse_size" value="1.0" />
-      <arg name="warn_ellipse_size" value="0.8" />
-      <arg name="error_ellipse_size_lateral_direction" value="1.0" />
-      <arg name="warn_ellipse_size_lateral_direction" value="0.8" />
+      <arg name="param_file" value="$(find-pkg-share localization_launch)/config/localization_error_monitor.param.yaml"/>
     </include>
 </launch>