feat(ndt_scan_matcher): added a new parameter "n_startup_trials" (#602)

* Added a new parameter "n_startup_trials" Signed-off-by: Shintaro Sakoda <[email protected]> * Changed default `n_startup_trials` to 20 Signed-off-by: Shintaro Sakoda <[email protected]> --------- Signed-off-by: Shintaro Sakoda <[email protected]>
autowarefoundation · Oct 13, 2023 · eeccf72 · eeccf72
1 parent be56728
commit eeccf72
Showing 1 changed file with 5 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
@@ -43,6 +43,11 @@
     # 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
+
     # Tolerance of timestamp difference between current time and sensor pointcloud. [sec]
     lidar_topic_timeout_sec: 1.0