From 43c23caf20df680eafcd8439e1225d9106e4d951 Mon Sep 17 00:00:00 2001 From: koki Date: Thu, 3 Aug 2023 14:21:43 +0900 Subject: [PATCH 1/7] add covariance_estimation --- .../config/localization/ndt_scan_matcher.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index 4c29059581..a4b6a54f18 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -51,6 +51,10 @@ num_threads: 4 # The covariance of output pose + use_covariance_estimation: false + offset_array_x: [0.0,0.0,0.5,-0.5,1.0,-1.0] + offset_array_y: [0.5,-0.5,0.0,0.0,0.0,0.0] + # Do note that this covariance matrix is empirically derived output_pose_covariance: [ From 2c13ea514da8b71b7efcfbb19c12f13defb4f823 Mon Sep 17 00:00:00 2001 From: koki Date: Tue, 17 Oct 2023 20:32:45 +0900 Subject: [PATCH 2/7] fix --- autoware_launch/config/localization/ndt_scan_matcher.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index a4b6a54f18..5716fd1114 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -55,7 +55,7 @@ offset_array_x: [0.0,0.0,0.5,-0.5,1.0,-1.0] offset_array_y: [0.5,-0.5,0.0,0.0,0.0,0.0] - # Do note that this covariance matrix is empirically derived + # Note that this covariance matrix is empirically derived output_pose_covariance: [ 0.0225, 0.0, 0.0, 0.0, 0.0, 0.0, From 06db1789ee8f5d811b9516fcb61053bd02c5575e Mon Sep 17 00:00:00 2001 From: koki Date: Tue, 17 Oct 2023 20:40:59 +0900 Subject: [PATCH 3/7] fix --- .../config/localization/ndt_scan_matcher.param.yaml | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index 5716fd1114..a62a67716f 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -51,10 +51,6 @@ num_threads: 4 # The covariance of output pose - use_covariance_estimation: false - offset_array_x: [0.0,0.0,0.5,-0.5,1.0,-1.0] - offset_array_y: [0.5,-0.5,0.0,0.0,0.0,0.0] - # Note that this covariance matrix is empirically derived output_pose_covariance: [ @@ -65,7 +61,12 @@ 0.0, 0.0, 0.0, 0.0, 0.000625, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.000625, ] - + + # 2D Real-time covariance estimation (output_pose_covariance is the minimum value) + use_covariance_estimation: false + offset_array_x: [0.0,0.0,0.5,-0.5,1.0,-1.0] + offset_array_y: [0.5,-0.5,0.0,0.0,0.0,0.0] + # Regularization switch regularization_enabled: false From 5738159069d2e0dbd9b2d69f297ed97278e05d29 Mon Sep 17 00:00:00 2001 From: Koki Aoki Date: Wed, 25 Oct 2023 16:15:01 +0900 Subject: [PATCH 4/7] fix: parameter names and explanations Signed-off-by: Koki Aoki --- .../config/localization/ndt_scan_matcher.param.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index b1a1b163dd..f5162c7f6e 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -72,10 +72,10 @@ 0.0, 0.0, 0.0, 0.0, 0.0, 0.000625, ] - # 2D Real-time covariance estimation (output_pose_covariance is the minimum value) - use_covariance_estimation: false - offset_array_x: [0.0,0.0,0.5,-0.5,1.0,-1.0] - offset_array_y: [0.5,-0.5,0.0,0.0,0.0,0.0] + # Offset arrangement in covariance estimation [m] + # initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements. + initial_pose_offset_model_x: [0.0, 0.0, 0.5, -0.5, 1.0, -1.0] + initial_pose_offset_model_y: [0.5, -0.5, 0.0, 0.0, 0.0, 0.0] # Regularization switch regularization_enabled: false From 940c22d772726e0353fbb083ea33d3f3c2d6dcc4 Mon Sep 17 00:00:00 2001 From: Koki Aoki Date: Mon, 6 Nov 2023 19:33:41 +0900 Subject: [PATCH 5/7] fix: A parameter that I forgot to add Signed-off-by: Koki Aoki --- .../config/localization/ndt_scan_matcher.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index f5162c7f6e..8c454e735f 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -72,6 +72,9 @@ 0.0, 0.0, 0.0, 0.0, 0.0, 0.000625, ] + # 2D Real-time covariance estimation with multiple searches (output_pose_covariance is the minimum value) + use_covariance_estimation: false + # Offset arrangement in covariance estimation [m] # initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements. initial_pose_offset_model_x: [0.0, 0.0, 0.5, -0.5, 1.0, -1.0] From 9b3d5a42b7b89880b8d9c9ade69cb0d8bd3560d1 Mon Sep 17 00:00:00 2001 From: KOKIAOKI Date: Mon, 6 Nov 2023 22:49:35 +0900 Subject: [PATCH 6/7] fix: remove white space Signed-off-by: KOKIAOKI --- autoware_launch/config/localization/ndt_scan_matcher.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index 8c454e735f..1aab9e0878 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -71,7 +71,7 @@ 0.0, 0.0, 0.0, 0.0, 0.000625, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.000625, ] - + # 2D Real-time covariance estimation with multiple searches (output_pose_covariance is the minimum value) use_covariance_estimation: false From 0f0944f71853b07438132ad9128a19f0d6e0e93a Mon Sep 17 00:00:00 2001 From: Koki Aoki Date: Tue, 7 Nov 2023 13:54:56 +0900 Subject: [PATCH 7/7] fix: remove white spaces --- autoware_launch/config/localization/ndt_scan_matcher.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index 1aab9e0878..1a6c26cd9c 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -79,7 +79,7 @@ # initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements. initial_pose_offset_model_x: [0.0, 0.0, 0.5, -0.5, 1.0, -1.0] initial_pose_offset_model_y: [0.5, -0.5, 0.0, 0.0, 0.0, 0.0] - + # Regularization switch regularization_enabled: false