From 916c39cb4ef170c727cc22e689eaa468d834f5cd Mon Sep 17 00:00:00 2001 From: KokiAoki <81670028+KOKIAOKI@users.noreply.github.com> Date: Tue, 7 Nov 2023 16:43:32 +0900 Subject: [PATCH] feat(ndt_scan_matcher): add parameters of real-time covariance estimation (#643) * add covariance_estimation * fix * fix * fix: parameter names and explanations Signed-off-by: Koki Aoki * fix: A parameter that I forgot to add Signed-off-by: Koki Aoki * fix: remove white space Signed-off-by: KOKIAOKI * fix: remove white spaces --------- Signed-off-by: Koki Aoki Signed-off-by: KOKIAOKI --- .../config/localization/ndt_scan_matcher.param.yaml | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml index 0ba1b1a2e1..1a6c26cd9c 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml @@ -72,6 +72,14 @@ 0.0, 0.0, 0.0, 0.0, 0.0, 0.000625, ] + # 2D Real-time covariance estimation with multiple searches (output_pose_covariance is the minimum value) + use_covariance_estimation: false + + # Offset arrangement in covariance estimation [m] + # initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements. + initial_pose_offset_model_x: [0.0, 0.0, 0.5, -0.5, 1.0, -1.0] + initial_pose_offset_model_y: [0.5, -0.5, 0.0, 0.0, 0.0, 0.0] + # Regularization switch regularization_enabled: false