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1 | 1 | /**: |
2 | 2 | ros__parameters: |
3 | | - # Vehicle reference frame |
4 | | - base_frame: "base_link" |
| 3 | + frame: |
| 4 | + # Vehicle reference frame |
| 5 | + base_frame: "base_link" |
5 | 6 |
|
6 | | - # NDT reference frame |
7 | | - ndt_base_frame: "ndt_base_link" |
| 7 | + # NDT reference frame |
| 8 | + ndt_base_frame: "ndt_base_link" |
8 | 9 |
|
9 | | - # map frame |
10 | | - map_frame: "map" |
| 10 | + # Map frame |
| 11 | + map_frame: "map" |
11 | 12 |
|
12 | | - # Subscriber queue size |
13 | | - input_sensor_points_queue_size: 1 |
14 | 13 |
|
15 | | - # The maximum difference between two consecutive |
16 | | - # transformations in order to consider convergence |
17 | | - trans_epsilon: 0.01 |
| 14 | + ndt: |
| 15 | + # The maximum difference between two consecutive |
| 16 | + # transformations in order to consider convergence |
| 17 | + trans_epsilon: 0.01 |
18 | 18 |
|
19 | | - # The newton line search maximum step length |
20 | | - step_size: 0.1 |
| 19 | + # The newton line search maximum step length |
| 20 | + step_size: 0.1 |
21 | 21 |
|
22 | | - # The ND voxel grid resolution |
23 | | - resolution: 2.0 |
| 22 | + # The ND voxel grid resolution |
| 23 | + resolution: 2.0 |
24 | 24 |
|
25 | | - # The number of iterations required to calculate alignment |
26 | | - max_iterations: 30 |
| 25 | + # The number of iterations required to calculate alignment |
| 26 | + max_iterations: 30 |
27 | 27 |
|
28 | | - # Converged param type |
29 | | - # 0=TRANSFORM_PROBABILITY, 1=NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD |
30 | | - converged_param_type: 1 |
| 28 | + # Number of threads used for parallel computing |
| 29 | + num_threads: 4 |
31 | 30 |
|
32 | | - # If converged_param_type is 0 |
33 | | - # Threshold for deciding whether to trust the estimation result |
34 | | - converged_param_transform_probability: 3.0 |
| 31 | + regularization: |
| 32 | + enable: false |
35 | 33 |
|
36 | | - # If converged_param_type is 1 |
37 | | - # Threshold for deciding whether to trust the estimation result |
38 | | - converged_param_nearest_voxel_transformation_likelihood: 2.3 |
| 34 | + # Regularization scale factor |
| 35 | + scale_factor: 0.01 |
39 | 36 |
|
40 | | - # The number of particles to estimate initial pose |
41 | | - initial_estimate_particles_num: 200 |
42 | 37 |
|
43 | | - # The number of initial random trials in the TPE (Tree-Structured Parzen Estimator). |
44 | | - # This value should be equal to or less than 'initial_estimate_particles_num' and more than 0. |
45 | | - # If it is equal to 'initial_estimate_particles_num', the search will be the same as a full random search. |
46 | | - n_startup_trials: 20 |
| 38 | + initial_pose_estimation: |
| 39 | + # The number of particles to estimate initial pose |
| 40 | + particles_num: 200 |
47 | 41 |
|
48 | | - # Tolerance of timestamp difference between current time and sensor pointcloud. [sec] |
49 | | - lidar_topic_timeout_sec: 1.0 |
| 42 | + # The number of initial random trials in the TPE (Tree-Structured Parzen Estimator). |
| 43 | + # This value should be equal to or less than 'initial_estimate_particles_num' and more than 0. |
| 44 | + # If it is equal to 'initial_estimate_particles_num', the search will be the same as a full random search. |
| 45 | + n_startup_trials: 20 |
50 | 46 |
|
51 | | - # Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec] |
52 | | - initial_pose_timeout_sec: 1.0 |
53 | 47 |
|
54 | | - # Tolerance of distance difference between two initial poses used for linear interpolation. [m] |
55 | | - initial_pose_distance_tolerance_m: 10.0 |
| 48 | + validation: |
| 49 | + # Tolerance of timestamp difference between current time and sensor pointcloud. [sec] |
| 50 | + lidar_topic_timeout_sec: 1.0 |
56 | 51 |
|
57 | | - # The execution time which means probably NDT cannot matches scans properly. [ms] |
58 | | - critical_upper_bound_exe_time_ms: 100.0 |
| 52 | + # Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec] |
| 53 | + initial_pose_timeout_sec: 1.0 |
59 | 54 |
|
60 | | - # Number of threads used for parallel computing |
61 | | - num_threads: 4 |
| 55 | + # Tolerance of distance difference between two initial poses used for linear interpolation. [m] |
| 56 | + initial_pose_distance_tolerance_m: 10.0 |
62 | 57 |
|
63 | | - # The covariance of output pose |
64 | | - # Note that this covariance matrix is empirically derived |
65 | | - output_pose_covariance: |
66 | | - [ |
67 | | - 0.0225, 0.0, 0.0, 0.0, 0.0, 0.0, |
68 | | - 0.0, 0.0225, 0.0, 0.0, 0.0, 0.0, |
69 | | - 0.0, 0.0, 0.0225, 0.0, 0.0, 0.0, |
70 | | - 0.0, 0.0, 0.0, 0.000625, 0.0, 0.0, |
71 | | - 0.0, 0.0, 0.0, 0.0, 0.000625, 0.0, |
72 | | - 0.0, 0.0, 0.0, 0.0, 0.0, 0.000625, |
73 | | - ] |
| 58 | + # The execution time which means probably NDT cannot matches scans properly. [ms] |
| 59 | + critical_upper_bound_exe_time_ms: 100.0 |
74 | 60 |
|
75 | | - # 2D Real-time covariance estimation with multiple searches (output_pose_covariance is the minimum value) |
76 | | - use_covariance_estimation: false |
77 | 61 |
|
78 | | - # Offset arrangement in covariance estimation [m] |
79 | | - # initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements. |
80 | | - initial_pose_offset_model_x: [0.0, 0.0, 0.5, -0.5, 1.0, -1.0] |
81 | | - initial_pose_offset_model_y: [0.5, -0.5, 0.0, 0.0, 0.0, 0.0] |
| 62 | + score_estimation: |
| 63 | + # Converged param type |
| 64 | + # 0=TRANSFORM_PROBABILITY, 1=NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD |
| 65 | + converged_param_type: 1 |
82 | 66 |
|
83 | | - # Regularization switch |
84 | | - regularization_enabled: false |
| 67 | + # If converged_param_type is 0 |
| 68 | + # Threshold for deciding whether to trust the estimation result |
| 69 | + converged_param_transform_probability: 3.0 |
85 | 70 |
|
86 | | - # Regularization scale factor |
87 | | - regularization_scale_factor: 0.01 |
| 71 | + # If converged_param_type is 1 |
| 72 | + # Threshold for deciding whether to trust the estimation result |
| 73 | + converged_param_nearest_voxel_transformation_likelihood: 2.3 |
88 | 74 |
|
89 | | - # Dynamic map loading distance |
90 | | - dynamic_map_loading_update_distance: 20.0 |
| 75 | + # Scan matching score based on no ground LiDAR scan |
| 76 | + no_ground_points: |
| 77 | + enable: false |
91 | 78 |
|
92 | | - # Dynamic map loading loading radius |
93 | | - dynamic_map_loading_map_radius: 150.0 |
| 79 | + # If lidar_point.z - base_link.z <= this threshold , the point will be removed |
| 80 | + z_margin_for_ground_removal: 0.8 |
94 | 81 |
|
95 | | - # Radius of input LiDAR range (used for diagnostics of dynamic map loading) |
96 | | - lidar_radius: 100.0 |
97 | 82 |
|
98 | | - # A flag for using scan matching score based on no ground LiDAR scan |
99 | | - estimate_scores_by_no_ground_points: false |
| 83 | + covariance: |
| 84 | + # The covariance of output pose |
| 85 | + # Note that this covariance matrix is empirically derived |
| 86 | + output_pose_covariance: |
| 87 | + [ |
| 88 | + 0.0225, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 89 | + 0.0, 0.0225, 0.0, 0.0, 0.0, 0.0, |
| 90 | + 0.0, 0.0, 0.0225, 0.0, 0.0, 0.0, |
| 91 | + 0.0, 0.0, 0.0, 0.000625, 0.0, 0.0, |
| 92 | + 0.0, 0.0, 0.0, 0.0, 0.000625, 0.0, |
| 93 | + 0.0, 0.0, 0.0, 0.0, 0.0, 0.000625, |
| 94 | + ] |
100 | 95 |
|
101 | | - # If lidar_point.z - base_link.z <= this threshold , the point will be removed |
102 | | - z_margin_for_ground_removal: 0.8 |
| 96 | + # 2D Real-time covariance estimation with multiple searches (output_pose_covariance is the minimum value) |
| 97 | + covariance_estimation: |
| 98 | + enable: false |
| 99 | + |
| 100 | + # Offset arrangement in covariance estimation [m] |
| 101 | + # initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements. |
| 102 | + initial_pose_offset_model_x: [0.0, 0.0, 0.5, -0.5, 1.0, -1.0] |
| 103 | + initial_pose_offset_model_y: [0.5, -0.5, 0.0, 0.0, 0.0, 0.0] |
| 104 | + |
| 105 | + |
| 106 | + dynamic_map_loading: |
| 107 | + # Dynamic map loading distance |
| 108 | + update_distance: 20.0 |
| 109 | + |
| 110 | + # Dynamic map loading loading radius |
| 111 | + map_radius: 150.0 |
| 112 | + |
| 113 | + # Radius of input LiDAR range (used for diagnostics of dynamic map loading) |
| 114 | + lidar_radius: 100.0 |
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