From 484b7eabc3d84b9e7aa6dcc35f3d159d068d2cfd Mon Sep 17 00:00:00 2001 From: TaikiYamada4 <129915538+TaikiYamada4@users.noreply.github.com> Date: Fri, 22 Sep 2023 16:07:03 +0900 Subject: [PATCH] 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 * Copy-pasted the ndt_scan_matcher.param.yaml from universe Signed-off-by: TaikiYamada4 * Correct spelling Signed-off-by: TaikiYamada4 --------- Signed-off-by: TaikiYamada4 --- .../config/localization/ndt_scan_matcher.param.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index 3a99927b41..2785938d5e 100644 --- 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