From 84dcb6d1ca0b8afabcb7f0f11e0a819bfec36bba Mon Sep 17 00:00:00 2001
From: Alopez <alopez@iri.upc.edu>
Date: Tue, 19 Apr 2022 12:30:59 +0200
Subject: [PATCH] Modified aprameters to solve low valid points on ICP

---
 config/params.yaml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/config/params.yaml b/config/params.yaml
index 4cafbc8..010c126 100644
--- a/config/params.yaml
+++ b/config/params.yaml
@@ -10,19 +10,19 @@ watchdog_t: 1.0
 collision_timeout: 5.0
 collision_acc_transition_counter_en: True
 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_th: 0.4
 #collision_ang_vel_th: 0.2
-collision_ang_vel_counter_limit: 20
+collision_ang_vel_counter_limit: 10
 odom_trans_th: 0.2
 odom_angular_th: 0.15
 
 front_laser_en: True
 rear_laser_en: True
 buffer_size: 10
-scan_diff_t_from_collision: 0.1
+scan_diff_t_from_collision: 0.0
 front_laser_en: True
 rear_laser_en: True
-icp_min_points: 80
+icp_min_points: 200
 icp_max_err_by_points: 0.3
-- 
GitLab