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Merge pull request #298 from tier4/sync-awf-latest
chore: sync awf-latest
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autoware_launch/config/localization/ndt_scan_matcher.param.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,102 +1,114 @@ | ||
| /**: | ||
| ros__parameters: | ||
| # Vehicle reference frame | ||
| base_frame: "base_link" | ||
| frame: | ||
| # Vehicle reference frame | ||
| base_frame: "base_link" | ||
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| # NDT reference frame | ||
| ndt_base_frame: "ndt_base_link" | ||
| # NDT reference frame | ||
| ndt_base_frame: "ndt_base_link" | ||
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| # map frame | ||
| map_frame: "map" | ||
| # Map frame | ||
| map_frame: "map" | ||
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| # Subscriber queue size | ||
| input_sensor_points_queue_size: 1 | ||
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| # The maximum difference between two consecutive | ||
| # transformations in order to consider convergence | ||
| trans_epsilon: 0.01 | ||
| ndt: | ||
| # The maximum difference between two consecutive | ||
| # transformations in order to consider convergence | ||
| trans_epsilon: 0.01 | ||
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| # The newton line search maximum step length | ||
| step_size: 0.1 | ||
| # The newton line search maximum step length | ||
| step_size: 0.1 | ||
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| # The ND voxel grid resolution | ||
| resolution: 2.0 | ||
| # The ND voxel grid resolution | ||
| resolution: 2.0 | ||
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| # The number of iterations required to calculate alignment | ||
| max_iterations: 30 | ||
| # The number of iterations required to calculate alignment | ||
| max_iterations: 30 | ||
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| # Converged param type | ||
| # 0=TRANSFORM_PROBABILITY, 1=NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD | ||
| converged_param_type: 1 | ||
| # Number of threads used for parallel computing | ||
| num_threads: 4 | ||
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| # If converged_param_type is 0 | ||
| # Threshold for deciding whether to trust the estimation result | ||
| converged_param_transform_probability: 3.0 | ||
| regularization: | ||
| enable: false | ||
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| # If converged_param_type is 1 | ||
| # Threshold for deciding whether to trust the estimation result | ||
| converged_param_nearest_voxel_transformation_likelihood: 2.3 | ||
| # Regularization scale factor | ||
| scale_factor: 0.01 | ||
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| # The number of particles to estimate initial pose | ||
| initial_estimate_particles_num: 200 | ||
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| # The number of initial random trials in the TPE (Tree-Structured Parzen Estimator). | ||
| # This value should be equal to or less than 'initial_estimate_particles_num' and more than 0. | ||
| # If it is equal to 'initial_estimate_particles_num', the search will be the same as a full random search. | ||
| n_startup_trials: 20 | ||
| initial_pose_estimation: | ||
| # The number of particles to estimate initial pose | ||
| particles_num: 200 | ||
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| # Tolerance of timestamp difference between current time and sensor pointcloud. [sec] | ||
| lidar_topic_timeout_sec: 1.0 | ||
| # The number of initial random trials in the TPE (Tree-Structured Parzen Estimator). | ||
| # This value should be equal to or less than 'initial_estimate_particles_num' and more than 0. | ||
| # If it is equal to 'initial_estimate_particles_num', the search will be the same as a full random search. | ||
| n_startup_trials: 20 | ||
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| # Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec] | ||
| initial_pose_timeout_sec: 1.0 | ||
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| # Tolerance of distance difference between two initial poses used for linear interpolation. [m] | ||
| initial_pose_distance_tolerance_m: 10.0 | ||
| validation: | ||
| # Tolerance of timestamp difference between current time and sensor pointcloud. [sec] | ||
| lidar_topic_timeout_sec: 1.0 | ||
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| # The execution time which means probably NDT cannot matches scans properly. [ms] | ||
| critical_upper_bound_exe_time_ms: 100.0 | ||
| # Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec] | ||
| initial_pose_timeout_sec: 1.0 | ||
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| # Number of threads used for parallel computing | ||
| num_threads: 4 | ||
| # Tolerance of distance difference between two initial poses used for linear interpolation. [m] | ||
| initial_pose_distance_tolerance_m: 10.0 | ||
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| # The covariance of output pose | ||
| # Note that this covariance matrix is empirically derived | ||
| output_pose_covariance: | ||
| [ | ||
| 0.0225, 0.0, 0.0, 0.0, 0.0, 0.0, | ||
| 0.0, 0.0225, 0.0, 0.0, 0.0, 0.0, | ||
| 0.0, 0.0, 0.0225, 0.0, 0.0, 0.0, | ||
| 0.0, 0.0, 0.0, 0.000625, 0.0, 0.0, | ||
| 0.0, 0.0, 0.0, 0.0, 0.000625, 0.0, | ||
| 0.0, 0.0, 0.0, 0.0, 0.0, 0.000625, | ||
| ] | ||
| # The execution time which means probably NDT cannot matches scans properly. [ms] | ||
| critical_upper_bound_exe_time_ms: 100.0 | ||
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| # 2D Real-time covariance estimation with multiple searches (output_pose_covariance is the minimum value) | ||
| use_covariance_estimation: false | ||
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| # Offset arrangement in covariance estimation [m] | ||
| # initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements. | ||
| initial_pose_offset_model_x: [0.0, 0.0, 0.5, -0.5, 1.0, -1.0] | ||
| initial_pose_offset_model_y: [0.5, -0.5, 0.0, 0.0, 0.0, 0.0] | ||
| score_estimation: | ||
| # Converged param type | ||
| # 0=TRANSFORM_PROBABILITY, 1=NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD | ||
| converged_param_type: 1 | ||
|
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| # Regularization switch | ||
| regularization_enabled: false | ||
| # If converged_param_type is 0 | ||
| # Threshold for deciding whether to trust the estimation result | ||
| converged_param_transform_probability: 3.0 | ||
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| # Regularization scale factor | ||
| regularization_scale_factor: 0.01 | ||
| # If converged_param_type is 1 | ||
| # Threshold for deciding whether to trust the estimation result | ||
| converged_param_nearest_voxel_transformation_likelihood: 2.3 | ||
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| # Dynamic map loading distance | ||
| dynamic_map_loading_update_distance: 20.0 | ||
| # Scan matching score based on no ground LiDAR scan | ||
| no_ground_points: | ||
| enable: false | ||
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| # Dynamic map loading loading radius | ||
| dynamic_map_loading_map_radius: 150.0 | ||
| # If lidar_point.z - base_link.z <= this threshold , the point will be removed | ||
| z_margin_for_ground_removal: 0.8 | ||
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| # Radius of input LiDAR range (used for diagnostics of dynamic map loading) | ||
| lidar_radius: 100.0 | ||
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| # A flag for using scan matching score based on no ground LiDAR scan | ||
| estimate_scores_by_no_ground_points: false | ||
| covariance: | ||
| # The covariance of output pose | ||
| # Note that this covariance matrix is empirically derived | ||
| output_pose_covariance: | ||
| [ | ||
| 0.0225, 0.0, 0.0, 0.0, 0.0, 0.0, | ||
| 0.0, 0.0225, 0.0, 0.0, 0.0, 0.0, | ||
| 0.0, 0.0, 0.0225, 0.0, 0.0, 0.0, | ||
| 0.0, 0.0, 0.0, 0.000625, 0.0, 0.0, | ||
| 0.0, 0.0, 0.0, 0.0, 0.000625, 0.0, | ||
| 0.0, 0.0, 0.0, 0.0, 0.0, 0.000625, | ||
| ] | ||
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| # If lidar_point.z - base_link.z <= this threshold , the point will be removed | ||
| z_margin_for_ground_removal: 0.8 | ||
| # 2D Real-time covariance estimation with multiple searches (output_pose_covariance is the minimum value) | ||
| covariance_estimation: | ||
| enable: false | ||
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| # Offset arrangement in covariance estimation [m] | ||
| # initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements. | ||
| initial_pose_offset_model_x: [0.0, 0.0, 0.5, -0.5, 1.0, -1.0] | ||
| initial_pose_offset_model_y: [0.5, -0.5, 0.0, 0.0, 0.0, 0.0] | ||
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| dynamic_map_loading: | ||
| # Dynamic map loading distance | ||
| update_distance: 20.0 | ||
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| # Dynamic map loading loading radius | ||
| map_radius: 150.0 | ||
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| # Radius of input LiDAR range (used for diagnostics of dynamic map loading) | ||
| lidar_radius: 100.0 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,4 @@ | ||
| /**: | ||
| ros__parameters: | ||
| use_odom: true | ||
| accel_lowpass_gain: 0.9 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,4 @@ | ||
| /**: | ||
| ros__parameters: | ||
| map_projector_info_path: $(var map_projector_info_path) | ||
| lanelet2_map_path: $(var lanelet2_map_path) |
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4 changes: 4 additions & 0 deletions
4
...ection/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter.param.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,4 @@ | ||
| /**: | ||
| ros__parameters: | ||
| angle_threshold: 1.2210 | ||
| velocity_threshold: 1.5 |
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