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)

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	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