From 206d439e074eda2c9c0faedef84e3bbfa55fa93d Mon Sep 17 00:00:00 2001 From: TaikiYamada4 <129915538+TaikiYamada4@users.noreply.github.com> Date: Thu, 28 Sep 2023 17:48:52 +0900 Subject: [PATCH] refactor(ndt_scan_matcher): modified ndt_scan_matcher.param.yaml to match with the one in universe (#596) Modified ndt_scan_matcher.param.yaml to match with the one in universe Signed-off-by: TaikiYamada4 --- .../config/localization/ndt_scan_matcher.param.yaml | 9 ++++++--- 1 file changed, 6 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 4a22059bda..718bc6ca3b 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -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 @@ -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, @@ -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