Improve YAML params

include/laser/processor/processor_odom_icp_3d.h

@@ -65,7 +65,7 @@ struct ParamsProcessorOdomIcp3d : public ParamsProcessorTracker, public ParamsMo
     {
         pcl_downsample = _server.getParam<bool>(prefix + _unique_name + "/pcl_downsample");
 
-        vote_elapsed_time = _server.getParam<double>(prefix + _unique_name + "/vote_elapsed_time");
+        vote_elapsed_time = _server.getParam<double>(prefix + _unique_name + "/keyframe_vote/vote_elapsed_time");
 
         icp_max_iterations = _server.getParam<int>(prefix + _unique_name + "/icp_max_iterations");
         icp_transformation_translation_epsilon =

test/yaml/problem_odom_icp_3d.yaml

@@ -31,18 +31,18 @@ config:
     sensor_name: "Lidar"
     plugin: "laser"
     time_tolerance: 0.05
-    icp_max_iterations:  20
-    icp_transformation_rotation_epsilon:  0.99
-    icp_transformation_translation_epsilon: 1e-6
-    icp_max_correspondence_distance:  0.5
     keyframe_vote:
-      voting_active: false
+      voting_active: true
       min_features_for_keyframe : 0
-    apply_loss_function: false
+      vote_elapsed_time: 0.99
     max_new_features: 0
+    apply_loss_function: false
     state_getter: true
     state_priority: 1
+    icp_max_iterations:  20
+    icp_transformation_rotation_epsilon:  0.99
+    icp_transformation_translation_epsilon: 1e-6
+    icp_max_correspondence_distance:  0.5
     pcl_downsample: true
-    vote_elapsed_time: 0.99