Conflicts between AMCL & gmapping localization.

Hezihao / catkin_ws

mini project with ROS&gazebo8.

0 stars 0 forks source link

Conflicts between AMCL & gmapping localization. #5

Open Hezihao opened 5 years ago

Hezihao commented 5 years ago

Could be solved by uploading real-time map onto map server;

Hezihao commented 5 years ago

Worthy checking is: maybe the noise from laser_scan is influencing the localization of AMCL.

Hezihao commented 5 years ago

The guess was right, but not accurate enough. Those conflicts between AMCL and gmapping do exist, and the reason truly is noise of /scan, but directly it's because that /amcl was highly dependent on the /map provided by noisy signal from /scan (and that's why in the example which just used a static map from map_server, this problem doesn't exist). So that /filtered_scan is the right solution for this problem.