Fix: Increase ICP max_correspondence_distance to fix flaky CI#530
Merged
griswaldbrooks merged 1 commit intomainfrom Mar 11, 2026
Merged
Fix: Increase ICP max_correspondence_distance to fix flaky CI#530griswaldbrooks merged 1 commit intomainfrom
griswaldbrooks merged 1 commit intomainfrom
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The Register CAD Part Subtree used max_correspondence_distance=0.5m, which intermittently fails in CI when simulated point clouds don't have enough correspondences within that radius. Increase to 1.0m (default is 5.0m) to make registration more robust while still being a meaningful constraint. Fixes PickNikRobotics/moveit_pro#17394 Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
griswaldbrooks
approved these changes
Mar 11, 2026
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Summary
max_correspondence_distancefrom 0.5m to 1.0m inRegister CAD Part SubtreeRegisterPointCloudsfailures in CI with "Not enough point correspondences"Fixes PickNikRobotics/moveit_pro#17394
Test plan
Stack Objects with ICPpasses consistentlyRegister CAD Partlocally in lab_sim to verify ICP registration still produces accurate results🤖 Generated with Claude Code