Change NDT sensor model default params (#397)

### Proposed changes

Change default params to match the ones that were empirically tested and
validated

#### Type of change

- [ ] 🐛 Bugfix (change which fixes an issue)
- [x] 🚀 Feature (change which adds functionality)
- [ ] 📚 Documentation (change which fixes or extends documentation)


### Checklist

_Put an `x` in the boxes that apply. This is simply a reminder of what
we will require before merging your code._

- [x] Lint and unit tests (if any) pass locally with my changes
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have added necessary documentation (if appropriate)
- [x] All commits have been signed for
[DCO](https://developercertificate.org/)

Signed-off-by: Ramiro Serra <[email protected]>

beluga_amcl/src/ndt_amcl_node.cpp

@@ -81,7 +81,7 @@ NdtAmclNode::NdtAmclNode(const rclcpp::NodeOptions& options)
     descriptor.floating_point_range[0].from_value = 0;
     descriptor.floating_point_range[0].to_value = 1;
     descriptor.floating_point_range[0].step = 0;
-    declare_parameter("minimum_likelihood", rclcpp::ParameterValue(0.0), descriptor);
+    declare_parameter("minimum_likelihood", rclcpp::ParameterValue(0.01), descriptor);
   }
 
   {
@@ -101,7 +101,7 @@ NdtAmclNode::NdtAmclNode(const rclcpp::NodeOptions& options)
     descriptor.floating_point_range[0].from_value = 0;
     descriptor.floating_point_range[0].to_value = 1000;
     descriptor.floating_point_range[0].step = 0;
-    declare_parameter("d2", rclcpp::ParameterValue(1.0), descriptor);
+    declare_parameter("d2", rclcpp::ParameterValue(0.6), descriptor);
   }
 
   if (get_parameter("autostart").as_bool()) {

beluga_example/params/default_ndt.ros2.yaml

@@ -84,4 +84,6 @@ ndt_amcl:
     # Scaling parameter for NDT cells amplitude.
     d1: 1.0
     # Scaling parameter for NDT cells covariance.
-    d2: 0.85
+    d2: 0.6
+    # Minimum score NDT measurement cells.
+    minimum_likelihood: 0.01