From 6be345d5f27bcbbf8c8971a749a3a6b4a9bc420f Mon Sep 17 00:00:00 2001
From: Yamato Ando <yamato.ando@gmail.com>
Date: Fri, 4 Feb 2022 16:21:42 +0900
Subject: [PATCH] feat: add paricle param (#181)

Signed-off-by: YamatoAndo <yamato.ando@gmail.com>
---
 localization_launch/config/ndt_scan_matcher.param.yaml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/localization_launch/config/ndt_scan_matcher.param.yaml b/localization_launch/config/ndt_scan_matcher.param.yaml
index d04b872f1476f..ae5a39dd99ceb 100644
--- a/localization_launch/config/ndt_scan_matcher.param.yaml
+++ b/localization_launch/config/ndt_scan_matcher.param.yaml
@@ -26,6 +26,9 @@
     # Threshold for deciding whether to trust the estimation result
     converged_param_transform_probability: 3.0
 
+    # The number of particles to estimate initial pose
+    initial_estimate_particles_num: 100
+
     # neighborhood search method in OMP
     # 0=KDTREE, 1=DIRECT26, 2=DIRECT7, 3=DIRECT1
     omp_neighborhood_search_method: 0