You signed in with another tab or window. Reload to refresh your session.You signed out in another tab or window. Reload to refresh your session.You switched accounts on another tab or window. Reload to refresh your session.Dismiss alert
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/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)