feat(ndt_scan_matcher): adding exe time parameter (autowarefoundation…

…#559) add critical_upper_bound_exe_time_ms for ndt
iwatake2222 · Sep 26, 2023 · bf07c8a · bf07c8a
1 parent 45f7e58
commit bf07c8a
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
@@ -85,3 +85,6 @@
 
     # 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]