[RSDK-3746] Change num_range_data default (#155)

viam-modules · Jun 22, 2023 · 953ae03 · 953ae03
1 parent 746b8a3
commit 953ae03
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/viam-cartographer/src/slam_service/config_test.cc b/viam-cartographer/src/slam_service/config_test.cc
@@ -220,7 +220,7 @@ BOOST_AUTO_TEST_CASE(ParseAndValidateConfigParams_valid_config) {
     BOOST_TEST(slamService.config_params == "{mode=2d}");
     BOOST_TEST(slamService.slam_mode == "2d");
     BOOST_TEST(slamService.optimize_every_n_nodes == 3);
-    BOOST_TEST(slamService.num_range_data == 100);
+    BOOST_TEST(slamService.num_range_data == 30);
     BOOST_TEST(slamService.missing_data_ray_length == 25.0, tolerance);
     BOOST_TEST(slamService.max_range == 25.0, tolerance);
     BOOST_TEST(slamService.min_range == 0.2, tolerance);

diff --git a/viam-cartographer/src/slam_service/slam_service.h b/viam-cartographer/src/slam_service/slam_service.h
@@ -149,7 +149,7 @@ class SLAMServiceImpl final : public SLAMService::Service {
     // MAP_BUILDER.pose_graph
     int optimize_every_n_nodes = 3;
     // TRAJECTORY_BUILDER.trajectory_builder_2d.submaps
-    int num_range_data = 100;
+    int num_range_data = 30;
     // TRAJECTORY_BUILDER.trajectory_builder_2d
     float missing_data_ray_length = 25.0;
     float max_range = 25.0;