From 38cf566b1428238ad1c435ad95fe87587321031c Mon Sep 17 00:00:00 2001
From: Martin Plagens <martin.plagens@evocortex.com>
Date: Thu, 8 Apr 2021 09:02:57 +0200
Subject: [PATCH] Adjusted odometry variances

---
 launch/evo_base_4_lift_driver.launch | 13 +++++++------
 launch/evo_base_driver.launch        | 13 +++++++------
 2 files changed, 14 insertions(+), 12 deletions(-)

diff --git a/launch/evo_base_4_lift_driver.launch b/launch/evo_base_4_lift_driver.launch
index 797f759..53ff576 100644
--- a/launch/evo_base_4_lift_driver.launch
+++ b/launch/evo_base_4_lift_driver.launch
@@ -38,12 +38,13 @@
     <param name="wheel_distance_left_right_in_m"       value="0.4"     />
 
 <!-- covariances -->
-    <param name="covariance_pos_x"       value="1.0"     />
-    <param name="covariance_pos_y"       value="1.0"     />
-    <param name="covariance_pos_yaw"     value="1.0"     />
-    <param name="covariance_vel_x"       value="1.0"     />
-    <param name="covariance_vel_y"       value="1.0"     />
-    <param name="covariance_vel_yaw"     value="1.0"     />
+<!-- s_x/y = 0.001 m, s_yaw = 0.1 deg, s_vx/vy = 0.001 m/s, s_vyaw = 0.1 deg/s -->
+    <param name="covariance_pos_x"       value="0.000001" />
+    <param name="covariance_pos_y"       value="0.000001" />
+    <param name="covariance_pos_yaw"     value="0.000003" />
+    <param name="covariance_vel_x"       value="0.000001" />
+    <param name="covariance_vel_y"       value="0.000001" />
+    <param name="covariance_vel_yaw"     value="0.000003" />
   </node>
 
 <!-- Motor Mapping drives: 0 = no_pos, 1=front_left, 2=front_right, 3=back_right, 4=back_left-->
diff --git a/launch/evo_base_driver.launch b/launch/evo_base_driver.launch
index c3b45b1..24de0a6 100644
--- a/launch/evo_base_driver.launch
+++ b/launch/evo_base_driver.launch
@@ -40,12 +40,13 @@
     <param name="wheel_distance_left_right_in_m"       value="0.325"     />
 
 <!-- covariances -->
-    <param name="covariance_pos_x"       value="1.0"     />
-    <param name="covariance_pos_y"       value="1.0"     />
-    <param name="covariance_pos_yaw"     value="1.0"     />
-    <param name="covariance_vel_x"       value="1.0"     />
-    <param name="covariance_vel_y"       value="1.0"     />
-    <param name="covariance_vel_yaw"     value="1.0"     />
+<!-- s_x/y = 0.001 m, s_yaw = 0.1 deg, s_vx/vy = 0.001 m/s, s_vyaw = 0.1 deg/s -->
+    <param name="covariance_pos_x"       value="0.000001" />
+    <param name="covariance_pos_y"       value="0.000001" />
+    <param name="covariance_pos_yaw"     value="0.000003" />
+    <param name="covariance_vel_x"       value="0.000001" />
+    <param name="covariance_vel_y"       value="0.000001" />
+    <param name="covariance_vel_yaw"     value="0.000003" />
   </node>
 
 <!-- Motor Mapping drives: 0 = no_pos, 1=front_left, 2=front_right, 3=back_right, 4=back_left-->