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pre-commit-ci[bot] committed Jun 5, 2024
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6 changes: 3 additions & 3 deletions localization/ndt_scan_matcher/README.md
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Expand Up @@ -266,7 +266,7 @@ initial_pose_offset_model_x & initial_pose_offset_model_y must have the same num
| ----------------------------------------- | -------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ----------------------------- | --------------------------------------------------------------------------------------------------- |
| `topic_time_stamp` | the time stamp of input topic | none | none | no |
| `sensor_points_size` | the size of sensor points | the size is 0 | none | yes |
| `sensor_points_delay_time_sec` | the delay time of sensor points | the time is **longer** than `sensor_points.timeout_sec` | none | yes |
| `sensor_points_delay_time_sec` | the delay time of sensor points | the time is **longer** than `sensor_points.timeout_sec` | none | yes |
| `is_succeed_transform_sensor_points` | whether transform sensor points is succeed or not | none | failed | yes |
| `sensor_points_max_distance` | the max distance of sensor points | the max distance is **shorter** than `sensor_points.required_distance` | none | yes |
| `is_activated` | whether the node is in the "activate" state or not | not "activate" state | none | if `is_activated` is false, then estimation is not executed and `skipping_publish_num` is set to 0. |
Expand All @@ -276,9 +276,9 @@ initial_pose_offset_model_x & initial_pose_offset_model_y must have the same num
| `local_optimal_solution_oscillation_num` | the number of times the solution is judged to be oscillating | the number of times is **larger** than 10 | none | yes |
| `transform_probability` | the score of how well the map aligns with the sensor points | the score is **smaller** than`score_estimation.converged_param_transform_probability` (only in the case of `score_estimation.converged_param_type` is 0=TRANSFORM_PROBABILITY) | none | yes |
| `nearest_voxel_transformation_likelihood` | the score of how well the map aligns with the sensor points | the score is **smaller** than `score_estimation.converged_param_nearest_voxel_transformation_likelihood` (only in the case of `score_estimation.converged_param_type` is 1=NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD) | none | yes |
| `distance_initial_to_result` | the distance between the position before convergence processing and the position after | the distance is **longer** than `validation.initial_to_result_distance_tolerance_m` | none | no |
| `distance_initial_to_result` | the distance between the position before convergence processing and the position after | the distance is **longer** than `validation.initial_to_result_distance_tolerance_m` | none | no |
| `execution_time` | the time for convergence processing | the time is **longer** than `validation.critical_upper_bound_exe_time_ms` | none | no |
| `skipping_publish_num` | the number of times rejected estimation results consecutively | the number of times is `validation.skipping_publish_num` or more | none | - |
| `skipping_publish_num` | the number of times rejected estimation results consecutively | the number of times is `validation.skipping_publish_num` or more | none | - |

※The `sensor_points_callback` shares the same callback group as the `trigger_node_service` and `ndt_align_service`. Consequently, if the initial pose estimation takes too long, this diagnostic may become stale.

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3 changes: 1 addition & 2 deletions localization/ndt_scan_matcher/include/ndt_scan_matcher/hyper_parameters.hpp
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Expand Up @@ -99,8 +99,7 @@ struct HyperParameters
frame.ndt_base_frame = node->declare_parameter<std::string>("frame.ndt_base_frame");
frame.map_frame = node->declare_parameter<std::string>("frame.map_frame");

sensor_points.timeout_sec =
node->declare_parameter<double>("sensor_points.timeout_sec");
sensor_points.timeout_sec = node->declare_parameter<double>("sensor_points.timeout_sec");
sensor_points.required_distance =
node->declare_parameter<double>("sensor_points.required_distance");

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4 changes: 1 addition & 3 deletions localization/ndt_scan_matcher/schema/sub/sensor_points.json
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Expand Up @@ -17,9 +17,7 @@
"default": "10.0"
}
},
"required": ["timeout_sec",
"required_distance"
],
"required": ["timeout_sec", "required_distance"],
"additionalProperties": false
}
}
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