refactor(ndt_scan_matcher): match ndt_scan_matcher.param.yaml (#583)

* Added ndt_base_link parameter in ndt_scan_matcher.param.yaml Deleted neighborhood_search_mathod paramter in ndt_scan_matcher.param.yaml Signed-off-by: TaikiYamada4 <[email protected]> * Copy-pasted the ndt_scan_matcher.param.yaml from universe Signed-off-by: TaikiYamada4 <[email protected]> * Correct spelling Signed-off-by: TaikiYamada4 <[email protected]> --------- Signed-off-by: TaikiYamada4 <[email protected]>
autowarefoundation · Sep 22, 2023 · 484b7ea · 484b7ea
1 parent b5e6116
commit 484b7ea
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
@@ -6,6 +6,9 @@
     # Vehicle reference frame
     base_frame: "base_link"
 
+    # NDT reference frame
+    ndt_base_frame: "ndt_base_link"
+
     # Subscriber queue size
     input_sensor_points_queue_size: 1
 
@@ -46,10 +49,6 @@
     # Tolerance of distance difference between two initial poses used for linear interpolation. [m]
     initial_pose_distance_tolerance_m: 10.0
 
-    # neighborhood search method
-    # 0=KDTREE, 1=DIRECT26, 2=DIRECT7, 3=DIRECT1
-    neighborhood_search_method: 0
-
     # Number of threads used for parallel computing
     num_threads: 4
 
@@ -80,6 +79,7 @@
     # Radius of input LiDAR range (used for diagnostics of dynamic map loading)
     lidar_radius: 100.0
 
+    # cspell: ignore degrounded
     # A flag for using scan matching score based on de-grounded LiDAR scan
     estimate_scores_for_degrounded_scan: false