From e06273765eb1abc449aa884b5d13814d0391feb6 Mon Sep 17 00:00:00 2001
From: Alopez <alopez@iri.upc.edu>
Date: Fri, 8 Apr 2022 12:08:04 +0200
Subject: [PATCH] Reduced icp_min_points and icp_max_err_by_point

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

diff --git a/config/params.yaml b/config/params.yaml
index 94917a2..4cafbc8 100644
--- a/config/params.yaml
+++ b/config/params.yaml
@@ -4,7 +4,7 @@ fixed_frame: map
 base_link_frame: base_link
 tf_timeout: 0.2
 err_msg_rate: 0.5
-calculate_ang_vel: True
+calculate_ang_vel: False
 watchdog_t: 1.0
 
 collision_timeout: 5.0
@@ -12,7 +12,7 @@ collision_acc_transition_counter_en: True
 collision_acc_th: 5.0
 collision_acc_counter_limit: 20
 collision_ang_vel_transition_counter_en: True
-collision_ang_vel_th: 0.3
+collision_ang_vel_th: 0.4
 #collision_ang_vel_th: 0.2
 collision_ang_vel_counter_limit: 20
 odom_trans_th: 0.2
@@ -24,5 +24,5 @@ buffer_size: 10
 scan_diff_t_from_collision: 0.1
 front_laser_en: True
 rear_laser_en: True
-icp_min_points: 200
-icp_max_err_by_points: 0.4
+icp_min_points: 80
+icp_max_err_by_points: 0.3
-- 
GitLab