Tuning AMCL's diff-corrected and omni-corrected odom models
I just read the discussion on amcl's incorrect odometry models. See:
I was wondering if anyone has figured out how to properly tune the parameters odom_alpha1 through odom_alpha5 (relative to the "incorrect" models). The consensus seems to be that the old defaults (0.2) don't work properly with the corrected models. I tried a few things, such as lowering them by an order of magnitude, but didn't get decent results.
PS. To be more specific, here's my experience with a made-up omni-drive robot in Stage (drive "omni") and the omni-corrected odom model. If I tell the DWAPlanner to treat the robot as nonholonomic (holonomic_robot: false), then AMCL does OK. If I let it command lateral velocities (holonomic_robot: true and same y velocity params as x params), all hell breaks loose. Interestingly, it's mainly the position that's off, not the orientation.
