From 9b3e8064a147b3402ced98dfd91da1b6bea5b95e Mon Sep 17 00:00:00 2001
From: Alopez <alopez@iri.upc.edu>
Date: Wed, 20 Apr 2022 17:04:25 +0200
Subject: [PATCH] Modified icp min points
---
config/params.yaml | 2 +-
src/collision_manager_alg_node.cpp | 4 ++--
2 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/config/params.yaml b/config/params.yaml
index 010c126..248be99 100644
--- a/config/params.yaml
+++ b/config/params.yaml
@@ -24,5 +24,5 @@ buffer_size: 10
scan_diff_t_from_collision: 0.0
front_laser_en: True
rear_laser_en: True
-icp_min_points: 200
+icp_min_points: 80
icp_max_err_by_points: 0.3
diff --git a/src/collision_manager_alg_node.cpp b/src/collision_manager_alg_node.cpp
index 248af57..4b43b72 100644
--- a/src/collision_manager_alg_node.cpp
+++ b/src/collision_manager_alg_node.cpp
@@ -197,7 +197,7 @@ void CollisionManagerAlgNode::mainNodeThread(void)
{
// ROS_INFO("CollisionManagerAlgNode::mainNodeThread -> Front icp_client_ received a response from service server");
// ROS_INFO_STREAM(" valid " << (int)front_icp_srv_.response.valid);
- // ROS_INFO_STREAM(" new_laser_pose " << front_icp_srv_.response.new_laser_pose);
+ // ROS_INFO_STREAM(" Front new_laser_pose " << front_icp_srv_.response.new_laser_pose);
// ROS_INFO_STREAM(" covariance " << front_icp_srv_.response.covariance[0] << ", " << front_icp_srv_.response.covariance[1] << ", " << front_icp_srv_.response.covariance[2] << ", " << front_icp_srv_.response.covariance[3] << ", " << front_icp_srv_.response.covariance[4] << ", " << front_icp_srv_.response.covariance[5] << ", " << front_icp_srv_.response.covariance[6] << ", " << front_icp_srv_.response.covariance[7] << ", " << front_icp_srv_.response.covariance[8]);
// ROS_INFO_STREAM(" nvalid " << front_icp_srv_.response.nvalid << "; min " << this->config_.icp_min_points);
// ROS_INFO_STREAM(" error " << front_icp_srv_.response.error);
@@ -311,7 +311,7 @@ void CollisionManagerAlgNode::mainNodeThread(void)
{
// ROS_INFO("CollisionManagerAlgNode::mainNodeThread -> Rear icp_client_ received a response from service server");
// ROS_INFO_STREAM(" valid " << (int)rear_icp_srv_.response.valid);
- // ROS_INFO_STREAM(" new_laser_pose " << rear_icp_srv_.response.new_laser_pose);
+ // ROS_INFO_STREAM(" Rear new_laser_pose " << rear_icp_srv_.response.new_laser_pose);
// ROS_INFO_STREAM(" covariance " << rear_icp_srv_.response.covariance[0] << ", " << rear_icp_srv_.response.covariance[1] << ", " << rear_icp_srv_.response.covariance[2] << ", " << rear_icp_srv_.response.covariance[3] << ", " << rear_icp_srv_.response.covariance[4] << ", " << rear_icp_srv_.response.covariance[5] << ", " << rear_icp_srv_.response.covariance[6] << ", " << rear_icp_srv_.response.covariance[7] << ", " << rear_icp_srv_.response.covariance[8]);
// ROS_INFO_STREAM(" nvalid " << rear_icp_srv_.response.nvalid << "; min " << this->config_.icp_min_points);
// ROS_INFO_STREAM(" error " << rear_icp_srv_.response.error);
--
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