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ai-winter / ros_motion_planning

Motion planning and Navigation of AGV/AMR：ROS planner plugin implementation of A*, JPS, D*, LPA*, D* Lite, Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, PSO, Voronoi, PID, LQR, MPC, DWA, APF, Pure Pursuit etc.
GNU General Public License v3.0
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There is a little problem with map "warehouse" #76

Closed JiaoxianDu closed 2 months ago

JiaoxianDu commented 6 months ago

When running the AMCL algorithm and the car gets close to the edge of the map, the localization drifts. I think it's related to the commit f728f1a, and after that the pgm file didn't update in time. Corrected map file (by slam_karto): image Original map file: image As you can see, the corrected map file should be a little bit more slender (like 20 cm) than the original, which is obvious when you look at the bottom of the map.

ai-winter commented 6 months ago

@JiaoxianDu

Thanks for your contribution. We'll fix it later. You can also provide us with your corrected map.