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refactor(ndt_scan_matcher): match ndt_scan_matcher.param.yaml #583

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merged 4 commits into from
Sep 22, 2023
Merged

refactor(ndt_scan_matcher): match ndt_scan_matcher.param.yaml #583

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180bd7b
Added ndt_base_link parameter in ndt_scan_matcher.param.yaml
TaikiYamada4 Sep 21, 2023
ecd3977
Merge branch 'main' of github.com:TaikiYamada4/autoware_launch
TaikiYamada4 Sep 21, 2023
83c779b
Copy-pasted the ndt_scan_matcher.param.yaml from universe
TaikiYamada4 Sep 22, 2023
64ff383
Correct spelling
TaikiYamada4 Sep 22, 2023
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8 changes: 4 additions & 4 deletions 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 @@ -6,6 +6,9 @@
# Vehicle reference frame
base_frame: "base_link"

# NDT reference frame
ndt_base_frame: "ndt_base_link"

# Subscriber queue size
input_sensor_points_queue_size: 1

Expand Down Expand Up @@ -46,10 +49,6 @@
# Tolerance of distance difference between two initial poses used for linear interpolation. [m]
initial_pose_distance_tolerance_m: 10.0

# neighborhood search method
# 0=KDTREE, 1=DIRECT26, 2=DIRECT7, 3=DIRECT1
neighborhood_search_method: 0

# Number of threads used for parallel computing
num_threads: 4

Expand Down Expand Up @@ -80,6 +79,7 @@
# Radius of input LiDAR range (used for diagnostics of dynamic map loading)
lidar_radius: 100.0

# cspell: ignore degrounded
# A flag for using scan matching score based on de-grounded LiDAR scan
estimate_scores_for_degrounded_scan: false

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