update loop closure parameters

Author: nathanhhughes

hydra_ros/app/noisy_tf_publisher

@@ -116,7 +116,7 @@ class NoisyTransformPublisher(Node):
             "minimum_loop_closure_separation_s", 1.0
         ).double_value
         self._min_loop_closure_separation_ns = int(1.0e9 * min_lc_sep_s)
-        lc_window_s = self._get_param("loop_closure_window_ns", 10.0).double_value
+        lc_window_s = self._get_param("loop_closure_window_ns", 30.0).double_value
         self._loop_closure_window_ns = int(1.0e9 * lc_window_s)
 
         seed = self._get_param("random_seed", 0).integer_value

hydra_ros/src/hydra_ros_pipeline.cpp

@@ -160,7 +160,7 @@ void HydraRosPipeline::stop() {
 
 void HydraRosPipeline::initLCD() {
   // TODO(nathan) push to pipeline config?
-  auto lcd_config = config::fromContext<LoopClosureConfig>();
+  auto lcd_config = config::fromContext<LoopClosureModule::Config>();
   lcd_config.detector.num_semantic_classes = GlobalInfo::instance().getTotalLabels();
   LOG_IF(INFO, config.verbosity >= 2)
       << "Number of classes for LCD: " << lcd_config.detector.num_semantic_classes;