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

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merged 5 commits into from
Oct 13, 2023
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feat(ndt_scan_matcher): added a new parameter "n_startup_trials" #602

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f9e8e11
Added a new parameter "n_startup_trials"
SakodaShintaro Sep 28, 2023
d88d925
Merge remote-tracking branch 'origin/main' into feat/ndt_align_servic…
SakodaShintaro Sep 28, 2023
415af7c
Merge branch 'main' into feat/ndt_align_service_tpe
SakodaShintaro Oct 5, 2023
277ab29
Changed default `n_startup_trials` to 20
SakodaShintaro Oct 5, 2023
188bf9a
Merge branch 'main' into feat/ndt_align_service_tpe
SakodaShintaro Oct 12, 2023
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5 changes: 5 additions & 0 deletions autoware_launch/config/localization/ndt_scan_matcher.param.yaml
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Expand Up @@ -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

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