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feat(ndt_scan_matcher): add grid_search initial pose estimation #952

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feat(ndt_scan_matcher): add grid_search initial pose estimation #952

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cda9eb1
Added grid_search initial pose estimation
SakodaShintaro Apr 11, 2024
3131171
Merge branch 'main' into feat/add_grid_search_initial_pose_estimation
SakodaShintaro Apr 15, 2024
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24 changes: 24 additions & 0 deletions autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml
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Expand Up @@ -42,6 +42,12 @@


initial_pose_estimation:
# method: 0=RANDOM_SEARCH(including TPE), 1=GRID_SEARCH
method: 1

#
# Parameters for RANDOM_SEARCH
#
# The number of particles to estimate initial pose
particles_num: 200

Expand All @@ -50,6 +56,24 @@
# If it is equal to 'initial_estimate_particles_num', the search will be the same as a full random search.
n_startup_trials: 20

#
# Parameters for GRID_SEARCH
#
# The number of grid search
grid_num_x: 3
grid_num_y: 3
grid_num_z: 1
grid_num_roll: 1
grid_num_pitch: 1
grid_num_yaw: 80

# The range of grid search
grid_search_range_x: 3.0 # [m] (Search range: -3.0m ~ 3.0m)
grid_search_range_y: 3.0 # [m] (Search range: -3.0m ~ 3.0m)
grid_search_range_z: 0.0 # [m]
grid_search_range_roll: 0.0 # [rad]
grid_search_range_pitch: 0.0 # [rad]
grid_search_range_yaw: 3.14159265359 # [rad] (Search range: -pi ~ pi)

validation:
# Tolerance of timestamp difference between current time and sensor pointcloud. [sec]
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