cartographer: fixes for reconnect

data/RobotComponents/cartographer/config/localization/pose_graph.lua

@@ -19,7 +19,7 @@ POSE_GRAPH = {
     max_constraint_distance = 15.,
     min_score = 0.55,
     -- decrease this if you cannot initialize within a given map
-    global_localization_min_score = 0.4,
+    global_localization_min_score = 0.3,
     loop_closure_translation_weight = 1.1e4,
     loop_closure_rotation_weight = 1e5,
     log_matches = true,