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iris-ua / iris_lama_ros

LaMa on ROS
BSD 3-Clause "New" or "Revised" License
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Parameters to change odometry weight? #47

Closed bxc237 closed 2 years ago

bxc237 commented 2 years ago

Are there any parameters like odom_alpha in amcl to make the localization trust odometry more or less in localization node? Thank you.

eupedrosa commented 2 years ago

No, there is no parameter in the localization node to trust the odometry more os less. If your odometry noise is high, you should decrease the values of the parameters ~/d_thresh and ~/a_thresh. You can also increase the ~/l2_max to 1.0 or more.

bxc237 commented 2 years ago

Thank you issue closed