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Hi, I wrote a node that subscribes to amcl particlecloud. I would like to write a callback function that process all the Pose array elements. How can i get the size of the particlecloud or specifically the number of poses in the PoseArray Message?
geometry_msgs::PoseArray has pose vector type each element represent a particle in case of amcl particlecloud.
geometry_msgs::PoseArray poseArray;
int size = poseArray.pose.size();
Thanks it works for me like that: int size = poseArray.poses.size();
Hi @bvbdort do you know how to increase the size and spread of amcl particles, I am not being able to trigger the plan module for my Ackermann truck and I believe it is due the fact of particles size. I have already changed the parameters but the size seems to keep the same: AMCL Small particles don't allow Planning
Asked: 2014-09-27 14:22:47 -0600
Seen: 2,093 times
Last updated: Sep 27 '14
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