From 4e229642895515dec7fc1a95d8fc5a48fe9a177b Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Fri, 19 Jul 2024 17:18:23 +0900 Subject: [PATCH] feat(ndt_scan_matcher): add scale_factor to covariance_estimation (#1081) Added scale_factor to ndt_scan_matcher.covariance_estimation Signed-off-by: Shintaro Sakoda --- .../localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml index 616cb108ba..9e2cacab4d 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml @@ -119,6 +119,9 @@ # In MULTI_NDT_SCORE, the parameter that adjusts the estimated 2D covariance temperature: 0.1 + # Scale value for adjusting the estimated covariance by a constant multiplication + scale_factor: 1.0 + dynamic_map_loading: # Dynamic map loading distance