[graph_slam] Update defaults.

README.md

@@ -96,12 +96,13 @@ Particle Filter SLAM only:
 * `~srt`: Odometry error in translation as a function of rotation (default: 0.1).
 
 Graph SLAM only:
-* `~key_pose_distance`: Traveled distance to accumulate before creating a key pose (default: 1.0)
+* `~d_thresh`: Traveled distance to accumulate before updating (default: 0.25 meters).
+* `~key_pose_distance`: Traveled distance to accumulate before creating a key pose (default: 0.5)
 * `~key_pose_angular`: Angular motion to accumulate before creating a key pose (default: PI/2)
 * `~key_pose_head_delay`: Number of latest key poses to ignore for head key pose reference (default: 3)
 * `~loop_search_max_distance`: Maximum distance used in the adaptive search of a loop candidate (default: 15.0)
 * `~loop_search_min_distance`: Mininum distance used in the adaptive search of a loop candidate (default: 5.0)
-* `-loop_closure_scan_rmse`: Maximum RMSE (root mean-squared-error) allowed for a loop candidate (default: 0.05). Increase this value if loop closure links are not being created properly. A good value would be 0.1. Beware of false positives when this value too high.
+* `-loop_closure_scan_rmse`: Maximum RMSE (root mean-squared-error) allowed for a loop candidate (default: 0.075). Increase this value if loop closure links are not being created properly. A good value would be 0.1. Beware of false positives when this value too high.
 * `~loop_max_candidates`: Maximum number of candidates considered for loop closure (default: 5)
 * `~ignore_n_chain_poses`: Number of the lastest key poses to ignore for loop closure  (default: 20)
 

src/graph_slam2d_ros.cpp

@@ -59,19 +59,19 @@ lama::GraphSlam2DROS::GraphSlam2DROS()
     Pose2D prior(pos, tmp);
 
     GraphSlam2D::Options options;
-    pnh_.param("d_thresh",   options.trans_thresh, 0.01);
+    pnh_.param("d_thresh",   options.trans_thresh, 0.25);
     pnh_.param("a_thresh",   options.rot_thresh,   0.25);
     pnh_.param("l2_max",     options.l2_max,        0.5);
     pnh_.param("resolution", options.resolution,   0.05);
     pnh_.param("strategy",   options.strategy, std::string("gn"));
 
-    pnh_.param("key_pose_distance",         options.key_pose_distance, 1.0);
+    pnh_.param("key_pose_distance",         options.key_pose_distance, 0.5);
     pnh_.param("key_pose_angular_distance", options.key_pose_angular_distance, 0.5 * M_PI);
     pnh_.param("key_pose_head_delay",       options.key_pose_head_delay, 3);
 
     pnh_.param("loop_search_max_distance", options.loop_search_max_distance, 15.0);
     pnh_.param("loop_search_min_distance", options.loop_search_min_distance,  5.0);
-    pnh_.param("loop_closure_scan_rmse",   options.loop_closure_scan_rmse,   0.05);
+    pnh_.param("loop_closure_scan_rmse",   options.loop_closure_scan_rmse,   0.075);
     pnh_.param("loop_max_candidates",      options.loop_max_candidates,         5);
     pnh_.param("ignore_n_chain_poses",     options.ignore_n_chain_poses,       20);