-
Notifications
You must be signed in to change notification settings - Fork 287
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Merge branch 'autowarefoundation:main' into chore/rework_param_map
- Loading branch information
Showing
4 changed files
with
93 additions
and
76 deletions.
There are no files selected for viewing
158 changes: 85 additions & 73 deletions
158
autoware_launch/config/localization/ndt_scan_matcher.param.yaml
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,102 +1,114 @@ | ||
| /**: | ||
| ros__parameters: | ||
| # Vehicle reference frame | ||
| base_frame: "base_link" | ||
| frame: | ||
| # Vehicle reference frame | ||
| base_frame: "base_link" | ||
|
|
||
| # NDT reference frame | ||
| ndt_base_frame: "ndt_base_link" | ||
| # NDT reference frame | ||
| ndt_base_frame: "ndt_base_link" | ||
|
|
||
| # map frame | ||
| map_frame: "map" | ||
| # Map frame | ||
| map_frame: "map" | ||
|
|
||
| # Subscriber queue size | ||
| input_sensor_points_queue_size: 1 | ||
|
|
||
| # The maximum difference between two consecutive | ||
| # transformations in order to consider convergence | ||
| trans_epsilon: 0.01 | ||
| ndt: | ||
| # The maximum difference between two consecutive | ||
| # transformations in order to consider convergence | ||
| trans_epsilon: 0.01 | ||
|
|
||
| # The newton line search maximum step length | ||
| step_size: 0.1 | ||
| # The newton line search maximum step length | ||
| step_size: 0.1 | ||
|
|
||
| # The ND voxel grid resolution | ||
| resolution: 2.0 | ||
| # The ND voxel grid resolution | ||
| resolution: 2.0 | ||
|
|
||
| # The number of iterations required to calculate alignment | ||
| max_iterations: 30 | ||
| # The number of iterations required to calculate alignment | ||
| max_iterations: 30 | ||
|
|
||
| # Converged param type | ||
| # 0=TRANSFORM_PROBABILITY, 1=NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD | ||
| converged_param_type: 1 | ||
| # Number of threads used for parallel computing | ||
| num_threads: 4 | ||
|
|
||
| # If converged_param_type is 0 | ||
| # Threshold for deciding whether to trust the estimation result | ||
| converged_param_transform_probability: 3.0 | ||
| regularization: | ||
| enable: false | ||
|
|
||
| # If converged_param_type is 1 | ||
| # Threshold for deciding whether to trust the estimation result | ||
| converged_param_nearest_voxel_transformation_likelihood: 2.3 | ||
| # Regularization scale factor | ||
| scale_factor: 0.01 | ||
|
|
||
| # The number of particles to estimate initial pose | ||
| initial_estimate_particles_num: 200 | ||
|
|
||
| # The number of initial random trials in the TPE (Tree-Structured Parzen Estimator). | ||
| # This value should be equal to or less than 'initial_estimate_particles_num' and more than 0. | ||
| # If it is equal to 'initial_estimate_particles_num', the search will be the same as a full random search. | ||
| n_startup_trials: 20 | ||
| initial_pose_estimation: | ||
| # The number of particles to estimate initial pose | ||
| particles_num: 200 | ||
|
|
||
| # Tolerance of timestamp difference between current time and sensor pointcloud. [sec] | ||
| lidar_topic_timeout_sec: 1.0 | ||
| # The number of initial random trials in the TPE (Tree-Structured Parzen Estimator). | ||
| # This value should be equal to or less than 'initial_estimate_particles_num' and more than 0. | ||
| # If it is equal to 'initial_estimate_particles_num', the search will be the same as a full random search. | ||
| n_startup_trials: 20 | ||
|
|
||
| # Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec] | ||
| initial_pose_timeout_sec: 1.0 | ||
|
|
||
| # Tolerance of distance difference between two initial poses used for linear interpolation. [m] | ||
| initial_pose_distance_tolerance_m: 10.0 | ||
| validation: | ||
| # Tolerance of timestamp difference between current time and sensor pointcloud. [sec] | ||
| lidar_topic_timeout_sec: 1.0 | ||
|
|
||
| # The execution time which means probably NDT cannot matches scans properly. [ms] | ||
| critical_upper_bound_exe_time_ms: 100.0 | ||
| # Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec] | ||
| initial_pose_timeout_sec: 1.0 | ||
|
|
||
| # Number of threads used for parallel computing | ||
| num_threads: 4 | ||
| # Tolerance of distance difference between two initial poses used for linear interpolation. [m] | ||
| initial_pose_distance_tolerance_m: 10.0 | ||
|
|
||
| # The covariance of output pose | ||
| # Note that this covariance matrix is empirically derived | ||
| output_pose_covariance: | ||
| [ | ||
| 0.0225, 0.0, 0.0, 0.0, 0.0, 0.0, | ||
| 0.0, 0.0225, 0.0, 0.0, 0.0, 0.0, | ||
| 0.0, 0.0, 0.0225, 0.0, 0.0, 0.0, | ||
| 0.0, 0.0, 0.0, 0.000625, 0.0, 0.0, | ||
| 0.0, 0.0, 0.0, 0.0, 0.000625, 0.0, | ||
| 0.0, 0.0, 0.0, 0.0, 0.0, 0.000625, | ||
| ] | ||
| # The execution time which means probably NDT cannot matches scans properly. [ms] | ||
| critical_upper_bound_exe_time_ms: 100.0 | ||
|
|
||
| # 2D Real-time covariance estimation with multiple searches (output_pose_covariance is the minimum value) | ||
| use_covariance_estimation: false | ||
|
|
||
| # 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] | ||
| score_estimation: | ||
| # Converged param type | ||
| # 0=TRANSFORM_PROBABILITY, 1=NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD | ||
| converged_param_type: 1 | ||
|
|
||
| # Regularization switch | ||
| regularization_enabled: false | ||
| # If converged_param_type is 0 | ||
| # Threshold for deciding whether to trust the estimation result | ||
| converged_param_transform_probability: 3.0 | ||
|
|
||
| # Regularization scale factor | ||
| regularization_scale_factor: 0.01 | ||
| # If converged_param_type is 1 | ||
| # Threshold for deciding whether to trust the estimation result | ||
| converged_param_nearest_voxel_transformation_likelihood: 2.3 | ||
|
|
||
| # Dynamic map loading distance | ||
| dynamic_map_loading_update_distance: 20.0 | ||
| # Scan matching score based on no ground LiDAR scan | ||
| no_ground_points: | ||
| enable: false | ||
|
|
||
| # Dynamic map loading loading radius | ||
| dynamic_map_loading_map_radius: 150.0 | ||
| # If lidar_point.z - base_link.z <= this threshold , the point will be removed | ||
| z_margin_for_ground_removal: 0.8 | ||
|
|
||
| # Radius of input LiDAR range (used for diagnostics of dynamic map loading) | ||
| lidar_radius: 100.0 | ||
|
|
||
| # A flag for using scan matching score based on no ground LiDAR scan | ||
| estimate_scores_by_no_ground_points: false | ||
| covariance: | ||
| # The covariance of output pose | ||
| # Note that this covariance matrix is empirically derived | ||
| output_pose_covariance: | ||
| [ | ||
| 0.0225, 0.0, 0.0, 0.0, 0.0, 0.0, | ||
| 0.0, 0.0225, 0.0, 0.0, 0.0, 0.0, | ||
| 0.0, 0.0, 0.0225, 0.0, 0.0, 0.0, | ||
| 0.0, 0.0, 0.0, 0.000625, 0.0, 0.0, | ||
| 0.0, 0.0, 0.0, 0.0, 0.000625, 0.0, | ||
| 0.0, 0.0, 0.0, 0.0, 0.0, 0.000625, | ||
| ] | ||
|
|
||
| # If lidar_point.z - base_link.z <= this threshold , the point will be removed | ||
| z_margin_for_ground_removal: 0.8 | ||
| # 2D Real-time covariance estimation with multiple searches (output_pose_covariance is the minimum value) | ||
| covariance_estimation: | ||
| enable: false | ||
|
|
||
| # 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] | ||
|
|
||
|
|
||
| dynamic_map_loading: | ||
| # Dynamic map loading distance | ||
| update_distance: 20.0 | ||
|
|
||
| # Dynamic map loading loading radius | ||
| map_radius: 150.0 | ||
|
|
||
| # Radius of input LiDAR range (used for diagnostics of dynamic map loading) | ||
| lidar_radius: 100.0 |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,4 @@ | ||
| /**: | ||
| ros__parameters: | ||
| use_odom: true | ||
| accel_lowpass_gain: 0.9 |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters