(localization) optimized by tuning

tue-robotics · Jul 6, 2024 · 1786450 · 1786450
1 parent 407266f
commit 1786450
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/parameters/world_modeling/world_model_plugin_localization.yaml b/parameters/world_modeling/world_model_plugin_localization.yaml
@@ -17,16 +17,16 @@ parameters:
     recovery_alpha_fast: 0 #0.1
     cell_size_x: 0.5
     cell_size_y: 0.5
-    cell_size_theta: 0.1745
+    cell_size_theta: 0.1
   initial_pose:
     x: $(env ROBOT_INIT_X 0.0)
     y: $(env ROBOT_INIT_Y 0.0)
     rz: $(env ROBOT_INIT_PHI 0.0)
   laser_model:
     topic: /hero/base_laser/scan
-    num_beams: 100
+    num_beams: 150
     z_hit: 0.95
-    sigma_hit: 0.2
+    sigma_hit: 0.15
     z_short: 0.1
     z_max: 0.05
     z_rand: 0.05