How to improve amcl performance?
Hi all,
I made a simulated environment and a robot in Gazebo and I'm trying to localize the robot on a map with amcl.
So, what I did so far was to:
launch the simulation environment
run the map_server with the available map
run amcl
open rviz to see the result
and this is what happens:
As soon as the robot turns the pose estimate is very bad. Can please someone give me some hint on how to get this working?
Thanks.
This looks to me like potentially 2 things: 1, that your URDF with your laser might not be correctly configured, so that when you turn, it offset by a bad amount. 2, simulation environments have issues with AMCL due to lack of unique features from its "perfectness" if you give us your urdf/configs..
... we might be able to help narrow down more
sure! all the config files are in this package ( https://github.com/schizzz8/lucrezio_... ) to test it run: roslaunch lucrezio_simulation_environments empty_world_with_apartment_and_robot.launch
@stevemacenski any update on this?