The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
amcl is not using the whole laser scan, that's usually not done in MCL. The sensor model of the localization assumes conditionally independent points in a single laser scan. If you use a whole scan (no matter what sensor, a Hokuyo for example outputs more than 700 in one horizontal scan), neighboring points will be highly correlated which makes your localization overly confident. A common workaround is to use the scan sparsely, e.g. in intervals of 5 or 10 degrees only. This also speeds of localization.
For amcl that means that it will will divide your ("fake") laser range of 180 evenly by 30, using one beam every 6 degrees.
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
