#! /usr/bin/env python
PACKAGE='gps_kalman_filter'

from dynamic_reconfigure.msg import SensorLevels
from dynamic_reconfigure.parameter_generator_catkin import *

gen = ParameterGenerator()

#       Name	        Type		  Level Description			                Default	 Min 	  Max
gen.add("q_pos",      double_t, 0,    "Process noise covariance",     0.1,     0.0,   100.0)
gen.add("q_heading",  double_t, 0,    "Process noise covariance",     0.05,     0.0,   100.0)
gen.add("q_speed",    double_t, 0,    "Process noise covariance",     0.1,     0.0,   100.0)
gen.add("q_yaw_rate", double_t, 0,    "Process noise covariance",     0.05,     0.0,   100.0)
gen.add("r_gps",      double_t, 0,    "Measurement covariance",       1.0,     0.0,   100.0)
gen.add("r_gps_vel",  double_t, 0,    "Measurement covariance",       1.0,     0.0,   100.0)
gen.add("r_speed",    double_t, 0,    "Measurement covariance",       0.1,     0.0,   100.0)
gen.add("r_yaw_rate", double_t, 0,    "Measurement covariance",       0.1,     0.0,   100.0)
gen.add("min_gps_vel",double_t, 0,    "Minimum speed to use gpsvel",  0.25,     0.0,   10.0)

exit(gen.generate(PACKAGE, PACKAGE, "Ekf"))
