AMCL set particles using pose array

ros-planning / navigation

ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else.

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AMCL set particles using pose array #588

Open vik748 opened 7 years ago

vik748 commented 7 years ago

Hey folks, I have written a new service for AMCL called 'setParticles' similar to the Global Localization service. This service accepts a PoseArray msg and initializes the particle filter to this set of poses. We use this for coming up with schemes to fuse data between multiple robots. If there are others who would be interested in the feature, I'd be happy to share.

lucbettaieb commented 7 years ago

If you feel like it could be useful, make a pull request

AchmadFathoni commented 6 years ago

How is it going?, I am interested to use the setParticles in my current project.

lucbettaieb commented 6 years ago

@vik748 ^ <3

vik748 commented 6 years ago

@AchmadFathoni , I have just created a pull request #753 with this feature. I have to warn you, I had developed this last summer and haven't had a chance to test it with the more recent updates to the code. Please do test it out and provide your feedback. Thanks, Vikrant

AchmadFathoni commented 6 years ago

Don't worry, I am on my way learning amcl source code line by line. I promise I will improve it, if I have a chance.