Merge pull request #5 from leggedrobotics/fix/initial_variance

Increase initial variance

Author: mktk1117

elevation_mapping_cupy/config/parameters.yaml

@@ -9,7 +9,7 @@ max_drift: 0.1                                  # drift compensation happens onl
 drift_compensation_alpha: 0.1                   # drift compensation alpha for smoother update of drift compensation
 time_variance: 0.0001                           # add this value when update_variance is called.
 max_variance: 100.0                             # maximum variance for each cell.
-initial_variance: 100.0                         # initial variance for each cell.
+initial_variance: 1000.0                         # initial variance for each cell.
 traversability_inlier: 0.9                      # cells with higher traversability are used for drift compensation.
 dilation_size: 3                                # dilation filter size before traversability filter.
 wall_num_thresh: 20                             # if there are more points than this value, only higher points than the current height are used to make the wall more sharp.