From 9cf1f7cc4f8255dce34273eb8aba4ec59a1797a7 Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Wed, 4 Oct 2023 15:14:03 +0900 Subject: [PATCH] perf(ndt_scan_matcher): changed default `initial_estimate_particles_num` to 200 (#5220) Changed initial_estimate_particles_num to 200 Signed-off-by: Shintaro Sakoda --- .../ndt_scan_matcher/config/ndt_scan_matcher.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml b/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml index 718bc6ca3b3a3..cf41a4cf55d0b 100644 --- a/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml +++ b/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml @@ -41,7 +41,7 @@ converged_param_nearest_voxel_transformation_likelihood: 2.3 # The number of particles to estimate initial pose - initial_estimate_particles_num: 100 + initial_estimate_particles_num: 200 # Tolerance of timestamp difference between current time and sensor pointcloud. [sec] lidar_topic_timeout_sec: 1.0