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ros-mobile-robots / diffbot

DiffBot is an autonomous 2wd differential drive robot using ROS Noetic on a Raspberry Pi 4 B. With its SLAMTEC Lidar and the ROS Control hardware interface it's capable of navigating in an environment using the ROS Navigation stack and making use of SLAM algorithms to create maps of unknown environments.
https://ros-mobile-robots.com
BSD 3-Clause "New" or "Revised" License
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Fix minor error in amcl.launch #39

Closed rsilverioo closed 3 years ago

rsilverioo commented 3 years ago

The "kld_err" is initialized twice, and with the wrong values. I guess you wanted to initialize the "kld_err" parameter to 0.01 and "kld_z" to 0.99.

rsilverioo commented 3 years ago

In fact I don't even know how you performed the localization with amcl correctly using that configuration (kld_err=kld_z=0.99). You had to have very good and precise odometry 😅

fjp commented 3 years ago

In fact I don't even know how you performed the localization with amcl correctly using that configuration (kld_err=kld_z=0.99). You had to have very good and precise odometry sweat_smile

I think the min_particles=500 "helped" to hide this issue, which is M_X_min in the KLD sampling MCL algorithm:

image

The odometry sensors I use (encoders in the DG01D-E motors) are definitely not precise ;-)

I hope to find more time soon to improve odometry and work on #37