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fix(ndt_scan_matcher): fix type of critical_upper_bound_exe_time_ms #6161

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merged 2 commits into from
Jan 25, 2024
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fix(ndt_scan_matcher): fix type of critical_upper_bound_exe_time_ms #6161

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0a1d562
fix type of critical_upper_bound_exe_time_ms
YamatoAndo Jan 24, 2024
b94d7b3
fix order
YamatoAndo Jan 24, 2024
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6 changes: 3 additions & 3 deletions localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,9 @@
# Tolerance of distance difference between two initial poses used for linear interpolation. [m]
initial_pose_distance_tolerance_m: 10.0

# The execution time which means probably NDT cannot matches scans properly. [ms]
critical_upper_bound_exe_time_ms: 100.0

# Number of threads used for parallel computing
num_threads: 4

Expand Down Expand Up @@ -98,6 +101,3 @@

# If lidar_point.z - base_link.z <= this threshold , the point will be removed
z_margin_for_ground_removal: 0.8

# The execution time which means probably NDT cannot matches scans properly. [ms]
critical_upper_bound_exe_time_ms: 100
2 changes: 1 addition & 1 deletion localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp
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Expand Up @@ -225,7 +225,7 @@ class NDTScanMatcher : public rclcpp::Node
double z_margin_for_ground_removal_;

// The execution time which means probably NDT cannot matches scans properly
int64_t critical_upper_bound_exe_time_ms_;
double critical_upper_bound_exe_time_ms_;
};

#endif // NDT_SCAN_MATCHER__NDT_SCAN_MATCHER_CORE_HPP_
5 changes: 2 additions & 3 deletions localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
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Expand Up @@ -118,7 +118,7 @@ NDTScanMatcher::NDTScanMatcher()
lidar_topic_timeout_sec_ = this->declare_parameter<double>("lidar_topic_timeout_sec");

critical_upper_bound_exe_time_ms_ =
this->declare_parameter<int64_t>("critical_upper_bound_exe_time_ms");
this->declare_parameter<double>("critical_upper_bound_exe_time_ms");

initial_pose_timeout_sec_ = this->declare_parameter<double>("initial_pose_timeout_sec");

Expand Down Expand Up @@ -316,8 +316,7 @@ void NDTScanMatcher::publish_diagnostic()
}
if (
state_ptr_->count("execution_time") &&
std::stod((*state_ptr_)["execution_time"]) >=
static_cast<double>(critical_upper_bound_exe_time_ms_)) {
std::stod((*state_ptr_)["execution_time"]) >= critical_upper_bound_exe_time_ms_) {
diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
diag_status_msg.message +=
"NDT exe time is too long. (took " + (*state_ptr_)["execution_time"] + " [ms])";
Expand Down
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