search

mrpt-ros-pkg / mrpt_navigation

ROS 2 nodes wrapping core MRPT functionality: localization, autonomous navigation, rawlogs, etc. SLAM is in other packages.
http://wiki.ros.org/mrpt_navigation
BSD 3-Clause "New" or "Revised" License
157 stars 93 forks source link

need some Tuning methodology of pf-localization.ini file. #125

Open ZOUJIASHUAI opened 3 years ago

ZOUJIASHUAI commented 3 years ago

can you tell me the meaning of these parameters in pf-localization.ini?

Gunz-katomaran commented 1 year ago

Need help to understand and tune ,ini file for better localization @jlblancoc

jlblancoc commented 1 year ago

I know, I know... documentation is scarce and spread here and there.

Some hints are given here: https://github.com/mrpt-ros-pkg/mrpt_navigation/issues/133#issuecomment-1531296754

You can also read about the different motion model parametes in these docs.

But there are actually much more insights that need to be understood about the "adaptive" part of the number of particles (KLD paper, or the "A" in the famous "AMCL"). Those parameters are in those in mrpt::slam::TKLDParams and are fairly important to tune.

I'll try to put everything together in some nice piece of tutorial asap.