refactor(ndt scan matcher): update parameter (#1018)

* rename to sensor_points.timeout_sec Signed-off-by: Yamato Ando <[email protected]> * parameterize skipping_publish_num Signed-off-by: Yamato Ando <[email protected]> * parameterize initial_to_result_distance_tolerance_m Signed-off-by: Yamato Ando <[email protected]> * add new line Signed-off-by: Yamato Ando <[email protected]> --------- Signed-off-by: Yamato Ando <[email protected]>
autowarefoundation · Jun 13, 2024 · 7671a29 · 7671a29
1 parent 4c03755
commit 7671a29
Showing 1 changed file with 9 additions and 3 deletions.
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
@@ -12,6 +12,9 @@
 
 
     sensor_points:
+      # Tolerance of timestamp difference between current time and sensor pointcloud. [sec]
+      timeout_sec: 1.0
+
       # Required distance of input sensor points. [m]
       # If the max distance of input sensor points is lower than this value, the scan matching will not be performed.
       required_distance: 10.0
@@ -52,18 +55,21 @@
 
 
     validation:
-      # Tolerance of timestamp difference between current time and sensor pointcloud. [sec]
-      lidar_topic_timeout_sec: 1.0
-
       # 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
 
+      # Tolerance of distance difference from initial pose to result pose. [m]
+      initial_to_result_distance_tolerance_m: 3.0
+
       # The execution time which means probably NDT cannot matches scans properly. [ms]
       critical_upper_bound_exe_time_ms: 100.0
 
+      # Tolerance for the number of times rejected estimation results consecutively
+      skipping_publish_num: 5
+
 
     score_estimation:
       # Converged param type