autoware_localization_error_monitor#
Purpose#
autoware_localization_error_monitor is a package for diagnosing localization errors by monitoring uncertainty of the localization results. The package monitors the following two values:
- size of long radius of confidence ellipse
- size of confidence ellipse along lateral direction (body-frame)
Inputs / Outputs#
Input#
| Name | Type | Description |
|---|---|---|
input/odom |
nav_msgs::msg::Odometry |
localization result |
Output#
| Name | Type | Description |
|---|---|---|
debug/ellipse_marker |
visualization_msgs::msg::Marker |
ellipse marker |
diagnostics |
diagnostic_msgs::msg::DiagnosticArray |
diagnostics outputs |
Parameters#
| Name | Type | Description | Default | Range |
|---|---|---|---|---|
| scale | float | scale factor for monitored values | 3 | N/A |
| error_ellipse_size | float | error threshold for long radius of confidence ellipse [m] | 1.5 | N/A |
| warn_ellipse_size | float | warning threshold for long radius of confidence ellipse [m] | 1.2 | N/A |
| error_ellipse_size_lateral_direction | float | error threshold for size of confidence ellipse along lateral direction [m] | 0.3 | N/A |
| warn_ellipse_size_lateral_direction | float | warning threshold for size of confidence ellipse along lateral direction [m] | 0.25 | N/A |