localization_error_monitor
Purpose
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)
| Name |
Type |
Description |
input/pose_with_cov |
geometry_msgs::msg::PoseWithCovarianceStamped |
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 |
scale |
double |
scale factor for monitored values (default: 3.0) |
error_ellipse_size |
double |
error threshold for long radius of confidence ellipse [m] (default: 1.0) |
warn_ellipse_size |
double |
warning threshold for long radius of confidence ellipse [m] (default: 0.8) |
error_ellipse_size_lateral_direction |
double |
error threshold for size of confidence ellipse along lateral direction [m] (default: 0.3) |
warn_ellipse_size_lateral_direction |
double |
warning threshold for size of confidence ellipse along lateral direction [m] (default: 0.2) |