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I am trying to write a code in which the inputs are laser scan and static map, whereas the outputs are the percentage of laser scan was matching with the map. But I figured it out that AMCL was already doing this for localization. Can I know what are the parameters are taken into consideration and how to proceed?
Look at amcl on the wiki You can add any of the listed parameters into your launch file with the param tag. You could also make a yaml with your desired configuration and load it. Similar to what you may have seen move_base do with its configuration files in its launch file. Here might be a hint for getting it to work better, but honestly tuning can take a long time.
Asked: 2020-02-21 22:45:17 -0600
Seen: 534 times
Last updated: Apr 06 '20
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What do you mean with the parameters taken into consideration ? You should take a look at amc_laser.cpp, you can see how the AMCL calculates the probability of a position being correct by calculating the difference between the given pose and the laser data, is this what you are looking for ?
Yes sir. I was confused at the file amcl_laser.cpp. Can I know how the weights are calculated at each position? And some detailed explanation regarding this?