Environment Presets¶
Environment presets let you tune GPS noise thresholds for your operating conditions without editing your hardware config. They layer on top: hardware config first, then preset overrides the GPS-specific values.
| Preset | Use case |
|---|---|
env_open.yaml |
Agricultural fields, open sky, minimal multipath |
env_urban.yaml |
Urban streets, buildings causing multipath |
env_canopy.yaml |
Forest, partial sky view |
Using a preset¶
ros2 launch fusioncore_ros fusioncore_nav2.launch.py \
fusioncore_config:=your_robot.yaml \
env_config:=$(ros2 pkg prefix fusioncore_ros)/share/fusioncore_ros/config/env_urban.yaml
The preset overrides only the GPS-related noise params. Everything else (IMU noise, encoder noise, UKF process noise) stays from your hardware config.