From a1fef39c59550619578c8535e59374b9e79455d2 Mon Sep 17 00:00:00 2001 From: stevemacenski Date: Mon, 25 Nov 2019 15:06:09 -0800 Subject: [PATCH] update default params for localization and configuration --- config/mapper_params_lifelong.yaml | 7 ------- config/mapper_params_localization.yaml | 6 +++--- config/mapper_params_offline.yaml | 7 ------- config/mapper_params_online_async.yaml | 7 ------- config/mapper_params_online_sync.yaml | 7 ------- src/slam_toolbox_common.cpp | 1 + 6 files changed, 4 insertions(+), 31 deletions(-) diff --git a/config/mapper_params_lifelong.yaml b/config/mapper_params_lifelong.yaml index 4c93e9a32..b8d76d38b 100644 --- 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 index f683414f6..22b9c99e3 100644 --- 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 index 55943bbba..6bbbf98bc 100644 --- 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 index e2a728fce..752053663 100644 --- 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 index 1e746dba8..a48c04860 100644 --- 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 index ff7404207..6ed2d48dd 100644 --- 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())