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initial_pose_estimation.json
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{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameters for Ndt Scan Matcher Node",
"definitions": {
"initial_pose_estimation": {
"type": "object",
"properties": {
"method": {
"type": "number",
"description": "The method to estimate the initial pose. 0:RANDOM_SEARCH, 1:GRID_SEARCH",
"default": 1,
"enum": [0, 1]
},
"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": 20,
"minimum": 1
},
"grid_num_x": {
"type": "number",
"description": "The number of grid search in x-axis.",
"default": 3,
"minimum": 1
},
"grid_num_y": {
"type": "number",
"description": "The number of grid search in y-axis.",
"default": 3,
"minimum": 1
},
"grid_num_z": {
"type": "number",
"description": "The number of grid search in z-axis.",
"default": 1,
"minimum": 1
},
"grid_num_roll": {
"type": "number",
"description": "The number of grid search in roll-axis.",
"default": 1,
"minimum": 1
},
"grid_num_pitch": {
"type": "number",
"description": "The number of grid search in pitch-axis.",
"default": 1,
"minimum": 1
},
"grid_num_yaw": {
"type": "number",
"description": "The number of grid search in yaw-axis.",
"default": 80,
"minimum": 1
},
"grid_search_range_x": {
"type": "number",
"description": "The range of grid search in x-axis. [m]",
"default": 3.0,
"minimum": 0.0
},
"grid_search_range_y": {
"type": "number",
"description": "The range of grid search in y-axis. [m]",
"default": 3.0,
"minimum": 0.0
},
"grid_search_range_z": {
"type": "number",
"description": "The range of grid search in z-axis. [m]",
"default": 0.0,
"minimum": 0.0
},
"grid_search_range_roll": {
"type": "number",
"description": "The range of grid search in roll-axis. [rad]",
"default": 0.0,
"minimum": 0.0
},
"grid_search_range_pitch": {
"type": "number",
"description": "The range of grid search in pitch-axis. [rad]",
"default": 0.0,
"minimum": 0.0
},
"grid_search_range_yaw": {
"type": "number",
"description": "The range of grid search in yaw-axis. [rad]",
"default": 3.0,
"minimum": 3.14159265359
}
},
"required": [
"method",
"particles_num",
"n_startup_trials",
"grid_num_x",
"grid_num_y",
"grid_num_z",
"grid_num_roll",
"grid_num_pitch",
"grid_num_yaw",
"grid_search_range_x",
"grid_search_range_y",
"grid_search_range_z",
"grid_search_range_roll",
"grid_search_range_pitch",
"grid_search_range_yaw"
],
"additionalProperties": false
}
}
}