From 9d11602a78b841b5b4e483bf73e2f0971a6648ea Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Wed, 24 Jan 2024 19:05:38 +0900 Subject: [PATCH 1/2] fix type Signed-off-by: Yamato Ando --- 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 9bc62d3f91..b05d97715e 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -100,4 +100,4 @@ z_margin_for_ground_removal: 0.8 # The execution time which means probably NDT cannot matches scans properly. [ms] - critical_upper_bound_exe_time_ms: 100 + critical_upper_bound_exe_time_ms: 100.0 From 3c4f035afa503d73507d9ff3735a68d56731f85d Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Wed, 24 Jan 2024 19:06:16 +0900 Subject: [PATCH 2/2] fix order Signed-off-by: Yamato Ando --- .../config/localization/ndt_scan_matcher.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index b05d97715e..a5a4941bfe 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -54,6 +54,9 @@ # Tolerance of distance difference between two initial poses used for linear interpolation. [m] initial_pose_distance_tolerance_m: 10.0 + # The execution time which means probably NDT cannot matches scans properly. [ms] + critical_upper_bound_exe_time_ms: 100.0 + # Number of threads used for parallel computing num_threads: 4 @@ -98,6 +101,3 @@ # If lidar_point.z - base_link.z <= this threshold , the point will be removed z_margin_for_ground_removal: 0.8 - - # The execution time which means probably NDT cannot matches scans properly. [ms] - critical_upper_bound_exe_time_ms: 100.0