diff --git a/crosbot_graphslam/src/graphSlam.cpp b/crosbot_graphslam/src/graphSlam.cpp index 43b24d4905e492e33851cbafa573580719e8fec4..4843d943ff909ae0173177881f7cb45e14f9e6e6 100644 --- a/crosbot_graphslam/src/graphSlam.cpp +++ b/crosbot_graphslam/src/graphSlam.cpp @@ -18,7 +18,7 @@ void GraphSlam::initialise(ros::NodeHandle &nh) { paramNH.param("CellSize", CellSize, 0.05); paramNH.param("ImgTransmitTime", ImgTransmitTime, 2000000); paramNH.param("MinAddHeight", MinAddHeight, -1); - paramNH.param("MaxAddHeight", MaxAddHeight, 1); + paramNH.param("MaxAddHeight", MaxAddHeight, 2); paramNH.param("LaserMinDist", LaserMinDist, 0.4); paramNH.param("LaserMaxDist", LaserMaxDist, 10.0); paramNH.param("LocalMapSize", LocalMapSize, 16); @@ -69,8 +69,8 @@ void GraphSlam::initialise(ros::NodeHandle &nh) { paramNH.param("RGBDWidth", RGBDWidth, 640); paramNH.param("RGBDHeight", RGBDHeight, 480); paramNH.param("SkipVal", SkipVal, 2); - paramNH.param("RGBDMinHeight", RGBDMinHeight, -INFINITY); - paramNH.param("RGBDMaxHeight", RGBDMaxHeight, INFINITY); + paramNH.param("RGBDMinHeight", RGBDMinHeight, -1.0); + paramNH.param("RGBDMaxHeight", RGBDMaxHeight, 4.0); paramNH.param("RGBDMaxDistance", RGBDMaxDistance, 36.0); paramNH.param("RGBDMinDistance", RGBDMinDistance, 0.3);