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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
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)
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