Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

feat(autoware_launch): add NDT parameters for dynamic_map_loading #151

Merged
merged 5 commits into from
Feb 3, 2023
Merged

feat(autoware_launch): add NDT parameters for dynamic_map_loading #151

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
04ac2ff
feat(autoware_launch): add NDT parameters for dynamic_map_loading
kminoda Jan 5, 2023
6bfa46d
set default param to false
kminoda Jan 5, 2023
3f9963f
set default use_dynamic_map_loading to true
kminoda Jan 5, 2023
d6fa2d8
fix parameter description
kminoda Jan 10, 2023
8f08cc6
Merge branch 'main' into feature/dynamic_map_loading
kminoda Jan 11, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
11 changes: 11 additions & 0 deletions autoware_launch/config/localization/ndt_scan_matcher.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,5 +1,7 @@
/**:
ros__parameters:
# Use dynamic map loading
use_dynamic_map_loading: true

# Vehicle reference frame
base_frame: "base_link"
Expand Down Expand Up @@ -66,6 +68,15 @@
# regularization scale factor
regularization_scale_factor: 0.01

# Dynamic map loading distance
dynamic_map_loading_update_distance: 20.0

# Dynamic map loading loading radius
dynamic_map_loading_map_radius: 150.0

# Radius of input LiDAR range (used for diagnostics of dynamic map loading)
lidar_radius: 100.0

# A flag for using scan matching score based on de-grounded LiDAR scan
estimate_scores_for_degrounded_scan: false

Expand Down
4 changes: 2 additions & 2 deletions autoware_launch/config/map/pointcloud_map_loader.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,8 @@
ros__parameters:
enable_whole_load: true
enable_downsampled_whole_load: false
enable_partial_load: false
enable_differential_load: false
enable_partial_load: true
enable_differential_load: true

# only used when downsample_whole_load enabled
leaf_size: 3.0 # downsample leaf size [m]