What is the default noise parameters in sensor inputs in robot_localization?
In my yaml parameter file I have not specified any initial noise or process noise for my two sensors. What default noise values will the extended Kalman filter use on these inputs? I have tried to find the default values in the documentation http://docs.ros.org/kinetic/api/robot... and the source code https://github.com/cra-ros-pkg/robot_... without success.
In the documentation it states: Missing covariances. If you have configured a given sensor to fuse a given variable into the state estimation node, then the variance for that value (i.e., the covariance matrix value at position (i,i), where i is the index of that variable) should not be 0. If a 0 variance value is encountered for a variable that is being fused, the state estimation nodes will add a small epsilon value (1e−6) to that value. A better solution is for users to set covariances appropriately.
Does this mean that all the noise is set to a small epsilon value (1e−6)? And does this apply for both process and initial noise? Or does it mean that if a value is set to 0 a small epsilon value (1e−6) will be added to that 0?
