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tue-robotics / hero_bringup

bringup for the hero robot
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(localization) Use 2x more laser beams #123

Closed MatthijsBurgh closed 1 year ago

MatthijsBurgh commented 1 year ago

This is not a fix for localization during manipulation etc.

This is a fix for global localization. HERO does lose its global localization from time to time while just driving around. Its pose can be of for more than 1m and/or its rotation can be for minimal 20 degrees. That shouldn't happen.

Test it yourself. Just drive around in impuls for 15 minutes without and 15 minutes with this change.

Just so you know, with this change, the plugin still only uses less than 1% of its loop time, while running on 20Hz.

MatthijsBurgh commented 1 year ago

The number of beams can also include NaNs or >max_range, which are excluded. So this could lead to less beams being used.

MatthijsBurgh commented 1 year ago

Superseded by https://github.com/tue-robotics/hero_bringup/pull/128