Same defaults for ROS and CPP (#431)

* Same defaults everywhere

* Fix black

Author: tizianoGuadagnino

cpp/kiss_icp/pipeline/KissICP.hpp

@@ -37,7 +37,7 @@ struct KISSConfig {
     // map params
     double voxel_size = 1.0;
     double max_range = 100.0;
-    double min_range = 5.0;
+    double min_range = 0.0;
     int max_points_per_voxel = 20;
 
     // th parms
@@ -50,7 +50,7 @@ struct KISSConfig {
     int max_num_threads = 0;
 
     // Motion compensation
-    bool deskew = false;
+    bool deskew = true;
 };
 
 class KissICP {

ros/launch/odometry.launch.py

@@ -38,8 +38,8 @@
 class config:
     # Preprocessing
     max_range: float = 100.0
-    min_range: float = 5.0
-    deskew: bool = False
+    min_range: float = 0.0
+    deskew: bool = True
 
     #  Mapping parameters
     voxel_size: float = max_range / 100.0