post_noise.yaml

## Defines parameters for post-added measurement noise after Carla simulation

# Seed for numpy and random packages. Use null to let them decide.
seed: 1

odom:
  # Velocity Gaussian noise (m/s)
  v_bias: 0.0
  v_stddev: 0.2
  # Yaw rate Gaussian noise (m/s)
  yaw_rate_bias: 0.0
  yaw_rate_stddev: 0.1

# GNSS measurements are converted to Cartesian coordiantes already
gnss:
  # X (m)
  x_bias: 0.0
  x_stddev: 3.0
  # Y (m)
  y_bias: 0.0
  y_stddev: 3.0
  # Z (m)
  z_bias: 0.0
  z_stddev: 0.0

pole:
  # False classification probability [0.0-1.0]
  fc_prob: 0.05

lane:
# False classification probability [0.0-1.0]
  fc_prob: 0.05
  # Probability of a false positive detection to have a type other than unknown [0.0-1.0]
  fc_prob_false_positive: 0.5

rs_stop:
  # Scale longitudinal distance to simulate error
  scale: 1.0
  # Longitudinal distance Gaussian noise (m)
  dist_bias: 0.0
  dist_stddev: 0.7