fix: parameter names and explanations

Signed-off-by: Koki Aoki <[email protected]>
autowarefoundation · Oct 25, 2023 · 5738159 · 5738159
1 parent 44e6bd3
commit 5738159
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
@@ -72,10 +72,10 @@
         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]
+    # Offset arrangement in covariance estimation [m]
+    # initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements.
+    initial_pose_offset_model_x: [0.0, 0.0, 0.5, -0.5, 1.0, -1.0]
+    initial_pose_offset_model_y: [0.5, -0.5, 0.0, 0.0, 0.0, 0.0]
 
     # Regularization switch
     regularization_enabled: false