parameters.yaml

## @package parameters
#  Parameters used in the aruco_slam.

covariance:
    Q_k: 0.01           ## Error coefficient of encoder
    R_x: 100         ## Error coefficient of observation x
    R_y: 100          ## Error coefficient of observation y
    R_theta: 10      ## Error coefficient of observation theta

odom:
    kl: 0.05    ## Left wheel radius
    kr: 0.05    ## Right wheel radius
    b: 0.09     ## Half of robot wheelbase

aruco:
    markers_dictionary: 16 ## cv::aruco::PREDEFINED_DICTIONARY_NAME
    marker_length: 0.27    ## Length of the aruco markers, without the white edge, the unit is a meter

frame:
    world_frame: "world"                                ##Galobal frame name
    camera_frame_optical: "camera_frame_optical"        ##Image frame name
    robot_frame_base: "base_link"                       ##Robot base link frame name

topic:
    image: /camera/image_raw    ## Subscribed topic for image msg including image sensor_msgs::ImageConstPtr and camera info sensor_msgs::CameraInfoConstPtr
    encoder: /encoder           ## Subscribed topic for encoder msg including vector with two wheels' anguler valocity std_msgs::Float32MultiArray::ConstPtr

# map: 
#     map_file: "/home/liangyichen/catkin_ws/src/aruco_slam/map/map.txt" #Direction of map file with accurate information of real map
const:
    USEFUL_DISTANCE_THRESHOLD: 4