Update eagleye configuration file for F1EIGHTH vehicle.

autoware_launch/config/localization/eagleye_config.param.yaml

@@ -1,7 +1,7 @@
 /**: #GNSS cycle 5Hz, IMU cycle 50Hz.
   ros__parameters:
     # Estimate mode
-    use_gnss_mode: rtklib
+    use_gnss_mode: NMEA
     use_can_less_mode: false
 
     # Topic
@@ -10,18 +10,18 @@
       twist_topic: /sensing/vehicle_velocity_converter/twist_with_covariance
     imu_topic: /sensing/imu/imu_data
     gnss:
-      velocity_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3
-      velocity_source_topic: /sensing/gnss/ublox/navpvt
+      velocity_source_type: 3 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3
+      velocity_source_topic: /sensing/vehicle_velocity_converter/twist_with_covariance
       llh_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, sensor_msgs/NavSatFix: 2
-      llh_source_topic: /sensing/gnss/ublox/nav_sat_fix
+      llh_source_topic: /sensing/gnss/garmin/fix
     sub_gnss:
       llh_source_type: 2 # nmea_msgs/Sentence: 1, sensor_msgs/NavSatFix: 2
-      llh_source_topic:  /sensing/sub_gnss/ublox/nav_sat_fix
+      llh_source_topic:  /sensing/gnss/garmin/fix
 
     # TF
     tf_gnss_frame:
       parent: "base_link"
-      child: "imu_link"
+      child: "gnss_link"
 
     # Origin of GNSS coordinates (ECEF to ENU)
     ecef_base_pos:
@@ -35,11 +35,11 @@
     # Navigation Parameters
     # Basic Navigation Functions
     common:
-      imu_rate: 50
-      gnss_rate: 5
+      imu_rate: 5
+      gnss_rate: 1
       stop_judgment_threshold: 0.01
       slow_judgment_threshold: 0.278
-      moving_judgment_threshold: 2.78
+      moving_judgment_threshold: 0.556
 
     velocity_scale_factor:
       estimated_minimum_interval: 20