From 7671a296b12a479524cd5b479e84ba33fb5c59f3 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Thu, 13 Jun 2024 19:30:43 +0900 Subject: [PATCH] refactor(ndt scan matcher): update parameter (#1018) * rename to sensor_points.timeout_sec Signed-off-by: Yamato Ando * parameterize skipping_publish_num Signed-off-by: Yamato Ando * parameterize initial_to_result_distance_tolerance_m Signed-off-by: Yamato Ando * add new line Signed-off-by: Yamato Ando --------- Signed-off-by: Yamato Ando --- .../ndt_scan_matcher/ndt_scan_matcher.param.yaml | 12 +++++++++--- 1 file changed, 9 insertions(+), 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 index ec80a0ef79..f62329b8bd 100644 --- 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