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point_cloud_assembler: added linear_update and angular_update parameters. Demo robot: increased icp correspondence distance to 0.15 (fixed proximity icp not converging enough)

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matlabbe
2021-06-27 10:07:19 -04:00
parent a9e1202667
commit ed2451c351
2 changed files with 55 additions and 8 deletions
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launch/demo/demo_robot_mapping.launch
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@@ -56,7 +56,7 @@
<param name="Icp/CorrespondenceRatio" type="string" value="0.2"/> <!-- minimum scan overlap to accept loop closure -->
<param name="Icp/PM" type="string" value="false"/>
<param name="Icp/PointToPlane" type="string" value="false"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="0.05"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="0.15"/>
<param name="Icp/VoxelSize" type="string" value="0.05"/>
<!-- localization mode -->