laser_max_beams amcl parameter

ı have a hokuyo lidar. and it's max range 5.6 m (10hz) 240° ....

ı cant understand lasermaxbeams exactly. what will I do this parameter for my lidar.?? (default : 30) http://wiki.ros.org/amcl

can you explain me ?

Asked by osmancns on 2015-08-20 09:17:05 UTC

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Answers

This parameter describes how many beams will be used to calculate the likelihood during the update step. Therefore, every i-th beam will be used, where i is denoted by the quotient of maximum number of beams and the count of used beams. If the count of used beams is too high, the real time constraint is not fulfilled.

Asked by staljbs on 2015-08-20 15:34:29 UTC

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thank you. well, you think what can I do laser_max_beams as ideally for my 5.6 m (10hz) 240° lidar. (laser_max_beams : 30 or 60 or 80 or 180) ??

Asked by osmancns on 2015-08-21 03:00:20 UTC