-
-
Notifications
You must be signed in to change notification settings - Fork 93
Fix minor error in amcl.launch #39
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Conversation
The "kld_err" is initialized twice, and with the wrong values. I guess you wanted to initialize the "kld_error" parameter to 0.01 and "kld_z" to 0.99.
In fact I don't even know how you performed the localization with amcl correctly using that configuration (kld_err=kld_z=0.99).
You had to have very good and precise odometry 😅
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Thanks for spotting this!
In fact I don't even know how you performed the localization with amcl correctly using that configuration (kld_err=kld_z=0.99).
You had to have very good and precise odometry sweat_smile
I think the min_particles=500 "helped" to hide this issue, which is M_X_min in the KLD sampling MCL algorithm:
The odometry sensors I use (encoders in the DG01D-E motors) are definitely not precise ;-)
I hope to find more time soon to improve odometry and work on #37
Uh oh!
There was an error while loading. Please reload this page.
The "kld_err" is initialized twice, and with the wrong values.
I guess you wanted to initialize the "kld_err" parameter to 0.01 and "kld_z" to 0.99.