add critical_upper_bound_exe_time_ms for ndt

autowarefoundation · Sep 11, 2023 · 62d3d4b · 62d3d4b
1 parent da09163
commit 62d3d4b
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
@@ -85,3 +85,6 @@
 
     # If lidar_point.z - base_link.z <= this threshold , the point will be removed
     z_margin_for_ground_removal: 0.8
+
+    # The execution time which means probably NDT cannot matches scans properly
+    critical_upper_bound_exe_time_ms: 100 # [ms]