fix

autowarefoundation · Oct 17, 2023 · 06db178 · 06db178
1 parent 2c13ea5
commit 06db178
Showing 1 changed file with 6 additions and 5 deletions.
diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
@@ -51,10 +51,6 @@
     num_threads: 4
 
     # The covariance of output pose
-    use_covariance_estimation: false
-    offset_array_x: [0.0,0.0,0.5,-0.5,1.0,-1.0]
-    offset_array_y: [0.5,-0.5,0.0,0.0,0.0,0.0]
-
     # Note that this covariance matrix is empirically derived
     output_pose_covariance:
       [
@@ -65,7 +61,12 @@
         0.0,   0.0,   0.0,   0.0,      0.000625, 0.0,
         0.0,   0.0,   0.0,   0.0,      0.0,      0.000625,
       ]
-
+
+    # 2D Real-time covariance estimation (output_pose_covariance is the minimum value)
+    use_covariance_estimation: false
+    offset_array_x: [0.0,0.0,0.5,-0.5,1.0,-1.0]
+    offset_array_y: [0.5,-0.5,0.0,0.0,0.0,0.0]
+
     # Regularization switch
     regularization_enabled: false