From cdb8955e5d296b69ec75b9a9a09c7f7476b99ff1 Mon Sep 17 00:00:00 2001
From: Vincent Richard <richard-v@macnica.co.jp>
Date: Thu, 9 Mar 2023 15:02:47 +0900
Subject: [PATCH] chores(ekf_localizer): move parameters to its dedicated yaml
 file

Signed-off-by: Vincent Richard <richard-v@macnica.co.jp>
---
 .../localization/ekf_localizer.param.yaml     | 23 +++++++++++++++++++
 .../tier4_localization_component.launch.xml   |  1 +
 2 files changed, 24 insertions(+)
 create mode 100644 autoware_launch/config/localization/ekf_localizer.param.yaml

diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml
new file mode 100644
index 0000000000..02f7453658
--- /dev/null
+++ b/autoware_launch/config/localization/ekf_localizer.param.yaml
@@ -0,0 +1,23 @@
+/**:
+  ros__parameters:
+    show_debug_info: false
+    enable_yaw_bias_estimation: True
+    predict_frequency: 50.0
+    tf_rate: 50.0
+    extend_state_step: 50
+
+    # for Pose measurement
+    pose_additional_delay: 0.0
+    pose_measure_uncertainty_time: 0.01
+    pose_smoothing_steps: 5
+    pose_gate_dist: 10000.0
+
+    # for twist measurement
+    twist_additional_delay: 0.0
+    twist_smoothing_steps: 2
+    twist_gate_dist: 10000.0
+
+    # for process model
+    proc_stddev_yaw_c: 0.005
+    proc_stddev_vx_c: 10.0
+    proc_stddev_wz_c: 5.0
\ No newline at end of file
diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml
index 242ec17642..acb6a33505 100644
--- a/autoware_launch/launch/components/tier4_localization_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml
@@ -9,5 +9,6 @@
     <arg name="random_downsample_filter_param_path" value="$(find-pkg-share autoware_launch)/config/localization/random_downsample_filter.param.yaml"/>
     <arg name="ndt_scan_matcher_param_path" value="$(find-pkg-share autoware_launch)/config/localization/ndt_scan_matcher.param.yaml"/>
     <arg name="localization_error_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/localization/localization_error_monitor.param.yaml"/>
+    <arg name="ekf_localizer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/ekf_localizer.param.yaml"/>
   </include>
 </launch>