Merge branch 'main' into ramiro/expand-grid-concepts-to-n-dimensions

Ekumen-OS · Jun 5, 2024 · 625a6e4 · 625a6e4
2 parents 2d2a9fb + 77f3468
commit 625a6e4
Show file tree

Hide file tree

Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/beluga_amcl/src/ndt_amcl_node.cpp b/beluga_amcl/src/ndt_amcl_node.cpp
@@ -81,7 +81,7 @@ NdtAmclNode::NdtAmclNode(const rclcpp::NodeOptions& options)
     descriptor.floating_point_range[0].from_value = 0;
     descriptor.floating_point_range[0].to_value = 1;
     descriptor.floating_point_range[0].step = 0;
-    declare_parameter("minimum_likelihood", rclcpp::ParameterValue(0.0), descriptor);
+    declare_parameter("minimum_likelihood", rclcpp::ParameterValue(0.01), descriptor);
   }
 
   {
@@ -101,7 +101,7 @@ NdtAmclNode::NdtAmclNode(const rclcpp::NodeOptions& options)
     descriptor.floating_point_range[0].from_value = 0;
     descriptor.floating_point_range[0].to_value = 1000;
     descriptor.floating_point_range[0].step = 0;
-    declare_parameter("d2", rclcpp::ParameterValue(1.0), descriptor);
+    declare_parameter("d2", rclcpp::ParameterValue(0.6), descriptor);
   }
 
   if (get_parameter("autostart").as_bool()) {

diff --git a/beluga_example/params/default_ndt.ros2.yaml b/beluga_example/params/default_ndt.ros2.yaml
@@ -84,4 +84,6 @@ ndt_amcl:
     # Scaling parameter for NDT cells amplitude.
     d1: 1.0
     # Scaling parameter for NDT cells covariance.
-    d2: 0.85
+    d2: 0.6
+    # Minimum score NDT measurement cells.
+    minimum_likelihood: 0.01