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feat(ndt_scan_matcher): add parameters of real-time covariance estimation #643

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merged 13 commits into from
Nov 7, 2023
Merged

feat(ndt_scan_matcher): add parameters of real-time covariance estimation #643

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43c23ca
add covariance_estimation
KOKIAOKI Aug 3, 2023
2c13ea5
fix
KOKIAOKI Oct 17, 2023
06db178
fix
KOKIAOKI Oct 17, 2023
96aa313
Merge remote-tracking branch 'upstream/main'
KOKIAOKI Oct 17, 2023
44e6bd3
Merge branch 'main' into main
KOKIAOKI Oct 24, 2023
5738159
fix: parameter names and explanations
KOKIAOKI Oct 25, 2023
220d0c7
Merge branch 'main' into main
KOKIAOKI Oct 27, 2023
3a3e2ba
Merge branch 'main' into main
KOKIAOKI Oct 31, 2023
e0b8280
Merge branch 'main' into main
KOKIAOKI Nov 6, 2023
940c22d
fix: A parameter that I forgot to add
KOKIAOKI Nov 6, 2023
9b3d5a4
fix: remove white space
KOKIAOKI Nov 6, 2023
0f0944f
fix: remove white spaces
KOKIAOKI Nov 7, 2023
8fffea2
Merge branch 'main' into main
KOKIAOKI Nov 7, 2023
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8 changes: 8 additions & 0 deletions autoware_launch/config/localization/ndt_scan_matcher.param.yaml
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Expand Up @@ -72,6 +72,14 @@
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]
initial_pose_offset_model_y: [0.5, -0.5, 0.0, 0.0, 0.0, 0.0]

# Regularization switch
regularization_enabled: false

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