From f9e8e1102f6f36fdcf6b3eddffcf0bad9e7a62b2 Mon Sep 17 00:00:00 2001 From: Shintaro Sakoda Date: Thu, 28 Sep 2023 15:33:49 +0900 Subject: [PATCH 1/2] Added a new parameter "n_startup_trials" Signed-off-by: Shintaro Sakoda --- .../config/localization/ndt_scan_matcher.param.yaml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index 4a22059bda..decb56f1dc 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -40,6 +40,11 @@ # The number of particles to estimate initial pose initial_estimate_particles_num: 100 + # The number of initial random trials in the TPE (Tree-Structured Parzen Estimator). + # This value should be equal to or less than 'initial_estimate_particles_num' and more than 0. + # If it is equal to 'initial_estimate_particles_num', the search will be the same as a full random search. + n_startup_trials: 30 + # Tolerance of timestamp difference between current time and sensor pointcloud. [sec] lidar_topic_timeout_sec: 1.0 From 277ab293cbd43a638c50215afb2544f845a725a4 Mon Sep 17 00:00:00 2001 From: Shintaro Sakoda Date: Thu, 5 Oct 2023 18:35:18 +0900 Subject: [PATCH 2/2] Changed default `n_startup_trials` to 20 Signed-off-by: Shintaro Sakoda --- 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 8026c744b7..0ba1b1a2e1 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -46,7 +46,7 @@ # The number of initial random trials in the TPE (Tree-Structured Parzen Estimator). # This value should be equal to or less than 'initial_estimate_particles_num' and more than 0. # If it is equal to 'initial_estimate_particles_num', the search will be the same as a full random search. - n_startup_trials: 30 + n_startup_trials: 20 # Tolerance of timestamp difference between current time and sensor pointcloud. [sec] lidar_topic_timeout_sec: 1.0