Merge pull request #104 from tier4/feature/add_localization_error_mon…

…itor Feature/add localization error monitor
tier4 · Jul 26, 2021 · 8894aa3 · 8894aa3
2 parents 96c630e + 528cc8f
commit 8894aa3
Show file tree

Hide file tree

Showing 2 changed files with 12 additions and 2 deletions.
diff --git a/localization_launch/launch/localization.launch.xml b/localization_launch/launch/localization.launch.xml
@@ -28,8 +28,7 @@
       </include>
     </group>
     <!-- localization_error_monitor_module -->
-    <include file="$(find-pkg-share localization_error_monitor)/launch/localization_error_monitor.launch.xml">
-      <arg name="input/pose_with_cov" value="pose_twist_fusion_filter/pose_with_covariance" />
+    <include file="$(find-pkg-share localization_launch)/launch/localization_error_monitor/localization_error_monitor.launch.xml">
     </include>
   </group>
 </launch>
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
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<launch>
+    <include file="$(find-pkg-share localization_error_monitor)/launch/localization_error_monitor.launch.xml">
+      <arg name="input/pose_with_cov" value="pose_twist_fusion_filter/pose_with_covariance" />
+      <arg name="scale" value="3.0" />
+      <arg name="error_ellipse_size" value="0.5" />
+      <arg name="warn_ellipse_size" value="0.35" />
+      <arg name="error_ellipse_along_body_frame_size" value="0.3" />
+      <arg name="warn_ellipse_along_body_frame_size" value="0.2" />
+    </include>
+</launch>