chore(autoware_launch): manual sync with awf/autoware_launch (autowar…

…efoundation#751) * manual sync with awf/autoware_launch Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * add map launch Signed-off-by: kminoda <[email protected]> --------- Signed-off-by: kminoda <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
sykwer · Feb 6, 2023 · 0aa01a5 · 0aa01a5
1 parent 12ca9e3
commit 0aa01a5
Show file tree

Hide file tree

Showing 2 changed files with 13 additions and 2 deletions.
diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
@@ -1,5 +1,7 @@
 /**:
   ros__parameters:
+    # Use dynamic map loading
+    use_dynamic_map_loading: true
 
     # Vehicle reference frame
     base_frame: "base_link"
@@ -64,3 +66,12 @@
 
     # Regularization scale factor
     regularization_scale_factor: 0.01
+
+    # Radius of input LiDAR range (used for diagnostics of dynamic map loading)
+    lidar_radius: 100.0
+
+    # A flag for using scan matching score based on de-grounded LiDAR scan
+    estimate_scores_for_degrounded_scan: false
+
+    # If lidar_point.z - base_link.z <= this threshold , the point will be removed
+    z_margin_for_ground_removal: 0.8
diff --git a/autoware_launch/config/map/pointcloud_map_loader.param.yaml b/autoware_launch/config/map/pointcloud_map_loader.param.yaml
@@ -2,8 +2,8 @@
   ros__parameters:
     enable_whole_load: true
     enable_downsampled_whole_load: false
-    enable_partial_load: false
-    enable_differential_load: false
+    enable_partial_load: true
+    enable_differential_load: true
 
     # only used when downsample_whole_load enabled
     leaf_size: 3.0 # downsample leaf size [m]