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Brian Gerkey:

Thank you for answering my questions.

I did the sanity check as you said, I think the odometry is reasonable. I put the video here: http://youtu.be/nNgkgiUnA3M

I also did the sanity check as the Navigation Tuning Guide said. The video is here:http://youtu.be/cAbMLa1msEU

I found that the AMCL worked better with my robot when I drove my robot with a high speed than a low speed. I made two video for a comparison. The slow speed one.The high speed one.

I got two questions after I read the navigation tutorials again and again:

1.The AMCL node provide a service named "global_localization". Is it necessary to call this service before testing the AMCL node.

2.How can I determine to set the "odom_model_type" to "diff" or "omni"? And the "laser_model_type".

Brian Gerkey:

Thank you for answering my questions.

I did the sanity check as you said, I think the odometry is reasonable. I put the video here: http://youtu.be/nNgkgiUnA3M

I also did the sanity check as the Navigation Tuning Guide said. The video is here:http://youtu.be/cAbMLa1msEU

I found that the AMCL worked better with my robot when I drove my robot with a high speed than a low speed. I made two video for a comparison. The slow speed one.The high speed one.

I got two questions after I read the navigation tutorials again and again:

1.The AMCL node provide a service named "global_localization". Is it necessary to call this service before testing the AMCL node.node?

2.How can I determine to set the "odom_model_type" to "diff" or "omni"? And the "laser_model_type".