search

tue-robotics / hero_bringup

bringup for the hero robot
2 stars 2 forks source link

(localization) reduce odom uncertainty #128

Closed MatthijsBurgh closed 1 year ago

MatthijsBurgh commented 1 year ago

Based on motion capture measurements and experimental testing afterwards.

MatthijsBurgh commented 1 year ago

@PetervDooren Because of https://github.com/tue-robotics/hero_bringup/pull/123#issuecomment-1265182469 I also suggest to increase the number of laser beams from 100 to 150/200.

MatthijsBurgh commented 1 year ago

You also changed the comments. Was this an error in the original implementation?

I don't get your question completely. It has always been the case that NaNs and r>= max_range are part of the counted particles. Otherwise the selection process becomes really complex.

MatthijsBurgh commented 1 year ago

As discussed with @PetervDooren, merging this one without increasing the number of beams. Need to analyze the performance after merging this one. After which we can increase the number of beams.