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Commit 84dcb6d1 authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
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Modified aprameters to solve low valid points on ICP

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config/params.yaml
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...@@ -10,19 +10,19 @@ watchdog_t: 1.0 ...@@ -10,19 +10,19 @@ watchdog_t: 1.0
collision_timeout: 5.0 collision_timeout: 5.0
collision_acc_transition_counter_en: True collision_acc_transition_counter_en: True
collision_acc_th: 5.0 collision_acc_th: 5.0
collision_acc_counter_limit: 20 collision_acc_counter_limit: 10
collision_ang_vel_transition_counter_en: True collision_ang_vel_transition_counter_en: True
collision_ang_vel_th: 0.4 collision_ang_vel_th: 0.4
#collision_ang_vel_th: 0.2 #collision_ang_vel_th: 0.2
collision_ang_vel_counter_limit: 20 collision_ang_vel_counter_limit: 10
odom_trans_th: 0.2 odom_trans_th: 0.2
odom_angular_th: 0.15 odom_angular_th: 0.15
front_laser_en: True front_laser_en: True
rear_laser_en: True rear_laser_en: True
buffer_size: 10 buffer_size: 10
scan_diff_t_from_collision: 0.1 scan_diff_t_from_collision: 0.0
front_laser_en: True front_laser_en: True
rear_laser_en: True rear_laser_en: True
icp_min_points: 80 icp_min_points: 200
icp_max_err_by_points: 0.3 icp_max_err_by_points: 0.3
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