initial_pose_estimation.json

{
  "$schema": "http://json-schema.org/draft-07/schema#",
  "title": "Parameters for Ndt Scan Matcher Node",
  "definitions": {
    "initial_pose_estimation": {
      "type": "object",
      "properties": {
        "particles_num": {
          "type": "number",
          "description": "The number of particles to estimate initial pose.",
          "default": 200,
          "minimum": 1
        },
        "n_startup_trials": {
          "type": "number",
          "description": "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.",
          "default": 100,
          "minimum": 1
        }
      },
      "required": ["particles_num", "n_startup_trials"],
      "additionalProperties": false
    }
  }
}