feat(autoware_launch): add NDT parameters for dynamic_map_loading (au…

…towarefoundation#151)

* feat(autoware_launch): add NDT parameters for dynamic_map_loading

* set default param to false

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* set default use_dynamic_map_loading to true

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix parameter description

Signed-off-by: kminoda <koji.minoda@tier4.jp>

---------

Signed-off-by: kminoda <koji.minoda@tier4.jp>

localization_launch/config/ndt_scan_matcher.param.yaml

@@ -1,5 +1,7 @@
 /**:
   ros__parameters:
+    # Use dynamic map loading
+    use_dynamic_map_loading: true
 
     # Vehicle reference frame
     base_frame: "base_link"
@@ -64,3 +66,18 @@
 
     # 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
+
+    # If lidar_point.z - base_link.z <= this threshold , the point will be removed
+    z_margin_for_ground_removal: 0.8