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update default params for localization and configuration #129

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Nov 25, 2019
Merged

update default params for localization and configuration #129

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8 changes: 0 additions & 8 deletions config/mapper_params_lifelong.yaml
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Original file line number Diff line number Diff line change
@@ -1,11 +1,3 @@

# 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
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14 changes: 3 additions & 11 deletions config/mapper_params_localization.yaml
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Original file line number Diff line number Diff line change
@@ -1,11 +1,3 @@

# 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
Expand Down Expand Up @@ -41,13 +33,12 @@ use_scan_matching: true
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
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
Expand All @@ -61,6 +52,7 @@ correlation_search_space_smear_deviation: 0.1
loop_search_space_dimension: 8.0
loop_search_space_resolution: 0.05
loop_search_space_smear_deviation: 0.03
loop_search_maximum_distance: 5.0

# Scan Matcher Parameters
distance_variance_penalty: 0.5
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8 changes: 0 additions & 8 deletions config/mapper_params_offline.yaml
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Original file line number Diff line number Diff line change
@@ -1,11 +1,3 @@

# 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
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8 changes: 0 additions & 8 deletions config/mapper_params_online_async.yaml
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Original file line number Diff line number Diff line change
@@ -1,11 +1,3 @@

# 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
Expand Down
8 changes: 0 additions & 8 deletions config/mapper_params_online_sync.yaml
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Original file line number Diff line number Diff line change
@@ -1,11 +1,3 @@

# 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
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3 changes: 2 additions & 1 deletion src/slam_toolbox_common.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -638,6 +638,7 @@ void SlamToolbox::loadSerializedPoseGraph(

// move the memory to our working dataset
smapper_->setMapper(mapper.release());
smapper_->configure(nh_);
dataset_.reset(dataset.release());

if (!smapper_->getMapper())
Expand Down Expand Up @@ -668,7 +669,7 @@ void SlamToolbox::loadSerializedPoseGraph(
ROS_INFO("Waiting for incoming scan to get metadata...");
boost::shared_ptr<sensor_msgs::LaserScan const> scan =
ros::topic::waitForMessage<sensor_msgs::LaserScan>(
std::string("/scan"), ros::Duration(1.0));
scan_topic_, ros::Duration(1.0));
if (scan)
{
ROS_INFO("Got scan!");
Expand Down