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ROS assumes certain things about the frames of the robot. You should make sure that it is correct: - the x axis of the base_link frame should point forward - the x axis of the laserscan also points forward
If your particles are spreading out, it probably means that the laserscan can't be matched to the map. - Make sure your initial position is good (visualize the scan message and check that it overlaps with the walls in the map)
| | 2 | No.2 Revision |
ROS assumes certain things about the frames of the robot. You should make sure that it is correct:
- correct:
If your particles are spreading out, it probably means that the laserscan can't be matched to the map.
- map.
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