From 35447c8eb62cbe0999048bc75ea85d547e95977a Mon Sep 17 00:00:00 2001
From: adrianrobolab <adrianrobolab@bugs.(none)>
Date: Tue, 9 Dec 2014 17:46:55 +1100
Subject: [PATCH] Minor changes to default parameters in graphslam

---
 crosbot_graphslam/src/graphSlam.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/crosbot_graphslam/src/graphSlam.cpp b/crosbot_graphslam/src/graphSlam.cpp
index 43b24d4..4843d94 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<double>("CellSize", CellSize, 0.05);
    paramNH.param<int>("ImgTransmitTime", ImgTransmitTime, 2000000);
    paramNH.param<double>("MinAddHeight", MinAddHeight, -1);
-   paramNH.param<double>("MaxAddHeight", MaxAddHeight, 1);
+   paramNH.param<double>("MaxAddHeight", MaxAddHeight, 2);
    paramNH.param<double>("LaserMinDist", LaserMinDist, 0.4);
    paramNH.param<double>("LaserMaxDist", LaserMaxDist, 10.0);
    paramNH.param<double>("LocalMapSize", LocalMapSize, 16);
@@ -69,8 +69,8 @@ void GraphSlam::initialise(ros::NodeHandle &nh) {
    paramNH.param<int>("RGBDWidth", RGBDWidth, 640);
    paramNH.param<int>("RGBDHeight", RGBDHeight, 480);
    paramNH.param<int>("SkipVal", SkipVal, 2);
-   paramNH.param<double>("RGBDMinHeight", RGBDMinHeight, -INFINITY);
-   paramNH.param<double>("RGBDMaxHeight", RGBDMaxHeight, INFINITY);
+   paramNH.param<double>("RGBDMinHeight", RGBDMinHeight, -1.0);
+   paramNH.param<double>("RGBDMaxHeight", RGBDMaxHeight, 4.0);
    paramNH.param<double>("RGBDMaxDistance", RGBDMaxDistance, 36.0);
    paramNH.param<double>("RGBDMinDistance", RGBDMinDistance, 0.3);
 
-- 
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