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refactor(ndt_scan_matcher): modified ndt_scan_matcher.param.yaml to match with the one in universe #596

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merged 2 commits into from
Sep 28, 2023
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refactor(ndt_scan_matcher): modified ndt_scan_matcher.param.yaml to match with the one in universe #596

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ed6d629
Modified ndt_scan_matcher.param.yaml to match with the one in universe
TaikiYamada4 Sep 27, 2023
0b4b3b9
Merge branch 'main' into refactor/ndt_scan_matcher_parameters
TaikiYamada4 Sep 28, 2023
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9 changes: 6 additions & 3 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 @@ -9,6 +9,9 @@
# NDT reference frame
ndt_base_frame: "ndt_base_link"

# map frame
map_frame: "map"

# Subscriber queue size
input_sensor_points_queue_size: 1

Expand Down Expand Up @@ -53,7 +56,7 @@
num_threads: 4

# The covariance of output pose
# 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,
Expand Down Expand Up @@ -86,5 +89,5 @@
# 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
critical_upper_bound_exe_time_ms: 100 # [ms]
# The execution time which means probably NDT cannot matches scans properly. [ms]
critical_upper_bound_exe_time_ms: 100
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