fix(localization_launch): add regularization default param (autowaref…

…oundation#552) * fix(localization_launch): add regularization default param Signed-off-by: kminoda <koji.minoda@tier4.jp> * same format with universe Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp>
tkimura4 · Nov 11, 2022 · 8ff8f15 · 8ff8f15
1 parent e3e094d
commit 8ff8f15
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/localization_launch/config/ndt_scan_matcher.param.yaml b/localization_launch/config/ndt_scan_matcher.param.yaml
@@ -1,5 +1,6 @@
 /**:
   ros__parameters:
+
     # Vehicle reference frame
     base_frame: "base_link"
 
@@ -57,3 +58,9 @@
         0.0,   0.0,   0.0,   0.0,      0.000625, 0.0,
         0.0,   0.0,   0.0,   0.0,      0.0,      0.000625,
       ]
+
+    # Regularization switch
+    regularization_enabled: false
+
+    # Regularization scale factor
+    regularization_scale_factor: 0.01