Remove [sensor]_nodelay from ros2 params (#800)

Signed-off-by: Borong Yuan <[email protected]>
cra-ros-pkg · Mar 28, 2023 · 284c2ec · 284c2ec
1 parent 47fbe93
commit 284c2ec
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Showing 4 changed files with 1 addition and 24 deletions.
diff --git a/doc/state_estimation_nodes.rst b/doc/state_estimation_nodes.rst
@@ -245,7 +245,7 @@ If ``smooth_lagged_data`` is set to *true*, this parameter specifies the number
 ~[sensor]_nodelay
 ^^^^^^^^^^^^^^^^^
 
-Specific parameters:
+ROS 1 specific parameters:
 
 * ``~odomN_nodelay``
 * ``~twistN_nodelay``

diff --git a/params/dual_ekf_navsat_example.yaml b/params/dual_ekf_navsat_example.yaml
@@ -22,7 +22,6 @@ ekf_filter_node_odom:
                   false, false, true,
                   false, false, false]
     odom0_queue_size: 10
-    odom0_nodelay: true
     odom0_differential: false
     odom0_relative: false
 
@@ -32,7 +31,6 @@ ekf_filter_node_odom:
                   false, false, false,
                   true,  true,  true,
                   true,  true,  true]
-    imu0_nodelay: false
     imu0_differential: false
     imu0_relative: false
     imu0_queue_size: 10
@@ -66,7 +64,6 @@ ekf_filter_node_map:
                   false, false, true,
                   false, false, false]
     odom0_queue_size: 10
-    odom0_nodelay: true
     odom0_differential: false
     odom0_relative: false
 
@@ -77,7 +74,6 @@ ekf_filter_node_map:
                   false, false, false,
                   false, false, false]
     odom1_queue_size: 10
-    odom1_nodelay: true
     odom1_differential: false
     odom1_relative: false
 
@@ -87,7 +83,6 @@ ekf_filter_node_map:
                   false, false, false,
                   true,  true,  true,
                   true,  true,  true]
-    imu0_nodelay: true
     imu0_differential: false
     imu0_relative: false
     imu0_queue_size: 10

diff --git a/params/ekf.yaml b/params/ekf.yaml
@@ -95,11 +95,6 @@ ekf_filter_node:
         # the size of the subscription queue so that more measurements are fused.
         odom0_queue_size: 2
 
-        # [ADVANCED] Large messages in ROS can exhibit strange behavior when they arrive at a high frequency. This is a result
-        # of Nagle's algorithm. This option tells the ROS subscriber to use the tcpNoDelay option, which disables Nagle's
-        # algorithm.
-        odom0_nodelay: false
-
         # [ADVANCED] When measuring one pose variable with two sensors, a situation can arise in which both sensors under-
         # report their covariances. This can lead to the filter rapidly jumping back and forth between each measurement as they
         # arrive. In these cases, it often makes sense to (a) correct the measurement covariances, or (b) if velocity is also
@@ -144,7 +139,6 @@ ekf_filter_node:
         odom1_queue_size: 2
         odom1_pose_rejection_threshold: 2.0
         odom1_twist_rejection_threshold: 0.2
-        odom1_nodelay: false
         pose0: example/pose
         pose0_config: [true,  true,  false,
                        false, false, false,
@@ -155,7 +149,6 @@ ekf_filter_node:
         pose0_relative: false
         pose0_queue_size: 5
         pose0_rejection_threshold: 2.0  # Note the difference in parameter name
-        pose0_nodelay: false
 
         twist0: example/twist
         twist0_config: [false, false, false,
@@ -165,15 +158,13 @@ ekf_filter_node:
                         false, false, false]
         twist0_queue_size: 3
         twist0_rejection_threshold: 2.0
-        twist0_nodelay: false
 
         imu0: example/imu
         imu0_config: [false, false, false,
                       true,  true,  true,
                       false, false, false,
                       true,  true,  true,
                       true,  true,  true]
-        imu0_nodelay: false
         imu0_differential: false
         imu0_relative: true
         imu0_queue_size: 5

diff --git a/params/ukf.yaml b/params/ukf.yaml
@@ -95,11 +95,6 @@ ukf_filter_node:
         # the size of the subscription queue so that more measurements are fused.
         odom0_queue_size: 2
 
-        # [ADVANCED] Large messages in ROS can exhibit strange behavior when they arrive at a high frequency. This is a result
-        # of Nagle's algorithm. This option tells the ROS subscriber to use the tcpNoDelay option, which disables Nagle's
-        # algorithm.
-        odom0_nodelay: false
-
         # [ADVANCED] When measuring one pose variable with two sensors, a situation can arise in which both sensors under-
         # report their covariances. This can lead to the filter rapidly jumping back and forth between each measurement as they
         # arrive. In these cases, it often makes sense to (a) correct the measurement covariances, or (b) if velocity is also
@@ -137,7 +132,6 @@ ukf_filter_node:
         odom1_queue_size: 2
         odom1_pose_rejection_threshold: 2.0
         odom1_twist_rejection_threshold: 0.2
-        odom1_nodelay: false
         pose0: example/pose
         pose0_config: [true,  true,  false,
                        false, false, false,
@@ -148,7 +142,6 @@ ukf_filter_node:
         pose0_relative: false
         pose0_queue_size: 5
         pose0_rejection_threshold: 2.0  # Note the difference in parameter name
-        pose0_nodelay: false
 
         twist0: example/twist
         twist0_config: [false, false, false,
@@ -158,15 +151,13 @@ ukf_filter_node:
                         false, false, false]
         twist0_queue_size: 3
         twist0_rejection_threshold: 2.0
-        twist0_nodelay: false
 
         imu0: example/imu
         imu0_config: [false, false, false,
                       true,  true,  true,
                       false, false, false,
                       true,  true,  true,
                       true,  true,  true]
-        imu0_nodelay: false
         imu0_differential: false
         imu0_relative: true
         imu0_queue_size: 5