feat(ndt_scan_matcher): add parameters of real-time covariance estima…

…tion (autowarefoundation#643)

* add covariance_estimation

* fix

* fix

* fix: parameter names and explanations

Signed-off-by: Koki Aoki <koki.aoki@map4.jp>

* fix: A parameter that I forgot to add

Signed-off-by: Koki Aoki <koki.aoki@map4.jp>

* fix: remove white space

Signed-off-by: KOKIAOKI <koki.aoki@map4.jp>

* fix: remove white spaces

---------

Signed-off-by: Koki Aoki <koki.aoki@map4.jp>
Signed-off-by: KOKIAOKI <koki.aoki@map4.jp>

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