fix(ndt_scan_matcher): fix default parameter to 0.0225 (#1583)

* fix(ndt_scan_matcher): fix default parameter to 0.0225 Signed-off-by: kminoda <koji.m.minoda@gmail.com> * added a sidenote * added a sidenote Signed-off-by: kminoda <koji.m.minoda@gmail.com> Signed-off-by: kminoda <koji.m.minoda@gmail.com>
autowarefoundation · Aug 18, 2022 · 219af03 · 219af03
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commit 219af03
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diff --git a/launch/tier4_localization_launch/config/ndt_scan_matcher.param.yaml b/launch/tier4_localization_launch/config/ndt_scan_matcher.param.yaml
@@ -53,11 +53,12 @@
     omp_num_threads: 4
 
     # The covariance of output pose
+    # Do note that this covariance matrix is empirically derived
     output_pose_covariance:
       [
-        0.025, 0.0,   0.0,   0.0,      0.0,      0.0,
-        0.0,   0.025, 0.0,   0.0,      0.0,      0.0,
-        0.0,   0.0,   0.025, 0.0,      0.0,      0.0,
+        0.0225, 0.0,   0.0,   0.0,      0.0,      0.0,
+        0.0,   0.0225, 0.0,   0.0,      0.0,      0.0,
+        0.0,   0.0,   0.0225, 0.0,      0.0,      0.0,
         0.0,   0.0,   0.0,   0.000625, 0.0,      0.0,
         0.0,   0.0,   0.0,   0.0,      0.000625, 0.0,
         0.0,   0.0,   0.0,   0.0,      0.0,      0.000625,

diff --git a/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml b/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml
@@ -54,11 +54,12 @@
     omp_num_threads: 4
 
     # The covariance of output pose
+    # Do note that this covariance matrix is empirically derived
     output_pose_covariance:
       [
-        0.025, 0.0,   0.0,   0.0,      0.0,      0.0,
-        0.0,   0.025, 0.0,   0.0,      0.0,      0.0,
-        0.0,   0.0,   0.025, 0.0,      0.0,      0.0,
+        0.0225, 0.0,   0.0,   0.0,      0.0,      0.0,
+        0.0,   0.0225, 0.0,   0.0,      0.0,      0.0,
+        0.0,   0.0,   0.0225, 0.0,      0.0,      0.0,
         0.0,   0.0,   0.0,   0.000625, 0.0,      0.0,
         0.0,   0.0,   0.0,   0.0,      0.000625, 0.0,
         0.0,   0.0,   0.0,   0.0,      0.0,      0.000625,