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perf(ndt_scan_matcher): changed default initial_estimate_particles_num to 200 #618

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Oct 4, 2023
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perf(ndt_scan_matcher): changed default initial_estimate_particles_num to 200 #618

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2 changes: 1 addition & 1 deletion autoware_launch/config/localization/ndt_scan_matcher.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,7 @@
converged_param_nearest_voxel_transformation_likelihood: 2.3

# The number of particles to estimate initial pose
initial_estimate_particles_num: 100
initial_estimate_particles_num: 200

# Tolerance of timestamp difference between current time and sensor pointcloud. [sec]
lidar_topic_timeout_sec: 1.0
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