chore: extend the range for ndt_scan_matching (autowarefoundation#172)

maxime-clem · Jun 15, 2023 · 79d4c61 · 79d4c61
1 parent 948b19a
commit 79d4c61
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/autoware_launch/config/localization/crop_box_filter_measurement_range.param.yaml b/autoware_launch/config/localization/crop_box_filter_measurement_range.param.yaml
@@ -2,10 +2,10 @@
   ros__parameters:
     input_frame: "base_link"
     output_frame: "base_link"
-    min_x: -60.0
-    max_x: 60.0
-    min_y: -60.0
-    max_y: 60.0
+    min_x: -100.0
+    max_x: 100.0
+    min_y: -100.0
+    max_y: 100.0
     min_z: -30.0
     max_z: 50.0
     negative: False
diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
@@ -32,7 +32,7 @@
 
     # If converged_param_type is 1
     # Threshold for deciding whether to trust the estimation result
-    converged_param_nearest_voxel_transformation_likelihood: 2.3
+    converged_param_nearest_voxel_transformation_likelihood: 2.1
 
     # The number of particles to estimate initial pose
     initial_estimate_particles_num: 100