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SteveMacenski / slam_toolbox

Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS
GNU Lesser General Public License v2.1
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Fixing error in residual scaling. #474

Closed dimasad closed 2 years ago

dimasad commented 2 years ago

Basic Info

Info Please fill out this column
Ticket(s) this addresses #473
Primary OS tested on Ubuntu 20.04
Robotic platform tested on turtlebot3_gazebo, with the house world

Description of contribution in a few bullet points

I tested this in simulation and a few datasets and achieved good results. This might change some results or backend configurations, but I think it is more coherent with the scan matcher. In the end, the final uncertainty bounds attained depend on the tuning of the underlying probability model, which is heavily influenced by the covariance the scan matcher assigns.

Description of documentation updates required from your changes

None.

Future work that may be required in bullet points

None.

SteveMacenski commented 2 years ago

Confirmation from @hidmic that this is correct, merging and forward porting to ROS 2