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[docs] Add warning on pure_localization submap resolutions (#858) 

Closes #847
master
Alexander Reimann 2018-05-25 03:20:54 +02:00 committed by Wally B. Feed
parent cf8c05b623
commit 037ea79e9b
1 changed files with 4 additions and 1 deletions
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docs/source/tuning.rst
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@ -215,6 +215,9 @@ As a next step, we strongly decrease ``global_sampling_ratio`` and ``constraint_
to compensate for the large number of constraints. to compensate for the large number of constraints.
We then tune for lower latency as explained above until the system reliably works in real time. We then tune for lower latency as explained above until the system reliably works in real time.
If you run in ``pure_localization``, ``submaps.resolution`` **should be matching** with the resolution of the submaps in the ``.pbstream`` you are running on.
Using different resolutions is currently untested and may not work as expected.
Odometry in Global Optimization Odometry in Global Optimization
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^