Skip to content

Instantly share code, notes, and snippets.

@RDaneelOlivav
Created July 12, 2021 18:52
Show Gist options
  • Save RDaneelOlivav/513a6733c2a9a8037c0579eb3a3da826 to your computer and use it in GitHub Desktop.
Save RDaneelOlivav/513a6733c2a9a8037c0579eb3a3da826 to your computer and use it in GitHub Desktop.
# param/ndt_localizer.param.yaml
---
/**:
ros__parameters:
##### Define input and outputs:
# Config of the input point cloud subscription
observation_sub:
history_depth: 10
# Config of the maps point cloud subscription
map_sub:
history_depth: 10
# Config of the maps point clouds to register
pose_pub:
history_depth: 10
# Publish the result to `/tf` topic
publish_tf: true
# Maximum allowed difference between the initial guess and the ndt pose estimate
predict_pose_threshold:
# Translation threshold in meters
translation: 0.5
# Rotation threshold in radians
rotation: 0.1
load_initial_pose_from_parameters: true
initial_pose:
translation:
x: 0.0
y: 0.0
z: 0.0
quaternion:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
enabled: true
# localizer specific configuration
localizer:
#underlying voxel grid configuration of the map
map:
capacity: 1000000
min_point:
x: -1000.0
y: -1000.0
z: -3.0
max_point:
x: 1000.0
y: 1000.0
z: 3.0
voxel_size:
x: 3.5
y: 3.5
z: 3.5
# ndt scan representation config
scan:
capacity: 63000
# ndt optimization problem configuration
optimization:
outlier_ratio: 0.55 # default value from PCL
# newton optimizer configuration
optimizer:
max_iterations: 50
score_tolerance: 0.0002
parameter_tolerance: 0.0002
gradient_tolerance: 0.0002
line_search:
step_max: 0.12
step_min: 0.0001
# Maximum accepted duration between a scan and an initial pose guess
guess_time_tolerance_ms: 500
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment