From 77f3468a7bdc1abc68de0cd123732b940d3ca5ac Mon Sep 17 00:00:00 2001 From: serraramiro1 Date: Wed, 5 Jun 2024 10:56:38 -0300 Subject: [PATCH] Change NDT sensor model default params (#397) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit ### Proposed changes Change default params to match the ones that were empirically tested and validated #### Type of change - [ ] 🐛 Bugfix (change which fixes an issue) - [x] 🚀 Feature (change which adds functionality) - [ ] 📚 Documentation (change which fixes or extends documentation) ### Checklist _Put an `x` in the boxes that apply. This is simply a reminder of what we will require before merging your code._ - [x] Lint and unit tests (if any) pass locally with my changes - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have added necessary documentation (if appropriate) - [x] All commits have been signed for [DCO](https://developercertificate.org/) Signed-off-by: Ramiro Serra --- beluga_amcl/src/ndt_amcl_node.cpp | 4 ++-- beluga_example/params/default_ndt.ros2.yaml | 4 +++- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/beluga_amcl/src/ndt_amcl_node.cpp b/beluga_amcl/src/ndt_amcl_node.cpp index 6b6336018..f88bcd1f8 100644 --- 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 index edb853d72..19e5934c2 100644 --- 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