From 5738159069d2e0dbd9b2d69f297ed97278e05d29 Mon Sep 17 00:00:00 2001 From: Koki Aoki Date: Wed, 25 Oct 2023 16:15:01 +0900 Subject: [PATCH] fix: parameter names and explanations Signed-off-by: Koki Aoki --- .../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 b1a1b163dd..f5162c7f6e 100644 --- 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