Merge pull request #130 from SteveMacenski/116-2

update default params for localization and configuration
SteveMacenski · Nov 25, 2019 · 6492681 · 6492681
2 parents 9aa7611 + a1fef39
commit 6492681
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Showing 6 changed files with 4 additions and 31 deletions.
diff --git a/config/mapper_params_lifelong.yaml b/config/mapper_params_lifelong.yaml
@@ -2,13 +2,6 @@
 slam_toolbox:
   ros__parameters:
 
-    # link_match_minimum_response_fine: 0.4 
-    # link_scan_maximum_distance: 20.0
-    # loop_search_maximum_distance: 50.0
-    # distance_variance_penalty: 1.8             
-    # angle_variance_penalty: 0.20    
-    # minimum_angle_penalty: 1.6 #0.9
-
     # Plugin params
     solver_plugin: solver_plugins::CeresSolver
     ceres_linear_solver: SPARSE_NORMAL_CHOLESKY

diff --git a/config/mapper_params_localization.yaml b/config/mapper_params_localization.yaml
@@ -34,13 +34,12 @@ slam_toolbox:
     use_scan_barycenter: true
     minimum_travel_distance: 0.5
     minimum_travel_heading: 0.5
-    scan_buffer_size: 10
+    scan_buffer_size: 3
     scan_buffer_maximum_scan_distance: 10.0
     link_match_minimum_response_fine: 0.1  
     link_scan_maximum_distance: 1.5
-    loop_search_maximum_distance: 3.0
     do_loop_closing: true 
-    loop_match_minimum_chain_size: 10           
+    loop_match_minimum_chain_size: 3
     loop_match_maximum_variance_coarse: 3.0  
     loop_match_minimum_response_coarse: 0.35    
     loop_match_minimum_response_fine: 0.45
@@ -54,6 +53,7 @@ slam_toolbox:
     loop_search_space_dimension: 8.0
     loop_search_space_resolution: 0.05
     loop_search_space_smear_deviation: 0.03
+    loop_search_maximum_distance: 3.0
 
     # Scan Matcher Parameters
     distance_variance_penalty: 0.5      

diff --git a/config/mapper_params_offline.yaml b/config/mapper_params_offline.yaml
@@ -1,13 +1,6 @@
 slam_toolbox:
   ros__parameters:
 
-    # link_match_minimum_response_fine: 0.4 
-    # link_scan_maximum_distance: 20.0
-    # loop_search_maximum_distance: 50.0
-    # distance_variance_penalty: 1.8             
-    # angle_variance_penalty: 0.20    
-    # minimum_angle_penalty: 1.6 #0.9
-
     # Plugin params
     solver_plugin: solver_plugins::CeresSolver
     ceres_linear_solver: SPARSE_NORMAL_CHOLESKY

diff --git a/config/mapper_params_online_async.yaml b/config/mapper_params_online_async.yaml
@@ -1,13 +1,6 @@
 slam_toolbox:
   ros__parameters:
 
-    # link_match_minimum_response_fine: 0.4 
-    # link_scan_maximum_distance: 20.0
-    # loop_search_maximum_distance: 50.0
-    # distance_variance_penalty: 1.8             
-    # angle_variance_penalty: 0.20    
-    # minimum_angle_penalty: 1.6 #0.9
-
     # Plugin params
     solver_plugin: solver_plugins::CeresSolver
     ceres_linear_solver: SPARSE_NORMAL_CHOLESKY

diff --git a/config/mapper_params_online_sync.yaml b/config/mapper_params_online_sync.yaml
@@ -1,13 +1,6 @@
 slam_toolbox:
   ros__parameters:
 
-    # link_match_minimum_response_fine: 0.4 
-    # link_scan_maximum_distance: 20.0
-    # loop_search_maximum_distance: 50.0
-    # distance_variance_penalty: 1.8             
-    # angle_variance_penalty: 0.20    
-    # minimum_angle_penalty: 1.6 #0.9
-
     # Plugin params
     solver_plugin: solver_plugins::CeresSolver
     ceres_linear_solver: SPARSE_NORMAL_CHOLESKY

diff --git a/src/slam_toolbox_common.cpp b/src/slam_toolbox_common.cpp
@@ -722,6 +722,7 @@ void SlamToolbox::loadSerializedPoseGraph(
 
   // move the memory to our working dataset
   smapper_->setMapper(mapper.release());
+  smapper_->configure(shared_from_this());
   dataset_.reset(dataset.release());
 
   if (!smapper_->getMapper())