Problem with AMCL (particles freeze)
Hi everyone
I am trying to use the AMCL algorithm to locate the robot, however when I display the amcl particles in RVIZ, they are fixed around the robot.
Do you know what it could be?
This is my AMCL.launch:
<launch>
<arg name="scan_topic" default="scan"/>
<arg name="initial_pose_x" default="-0.90"/>
<arg name="initial_pose_y" default="2.9"/>
<arg name="initial_pose_a" default="3.14"/>
<!-- AMCL -->
<node pkg="amcl" type="amcl" name="amcl">
<param name="initial_pose_x" value="$(arg initial_pose_x)"/>
<param name="initial_pose_y" value="$(arg initial_pose_y)"/>
<param name="initial_pose_a" value="$(arg initial_pose_a)"/>
<param name="min_particles" value="500"/>
<param name="max_particles" value="3000"/>
<param name="kld_err" value="0.02"/>
<param name="update_min_d" value="0.20"/>
<param name="update_min_a" value="0.20"/>
<param name="resample_interval" value="1"/>
<param name="transform_tolerance" value="0.5"/>
<param name="recovery_alpha_slow" value="0.00"/>
<param name="recovery_alpha_fast" value="0.00"/>
<param name="gui_publish_rate" value="50.0"/>
<remap from="scan" to="$(arg scan_topic)"/>
<param name="laser_max_range" value="8"/>
<param name="laser_min_range" value="0.3"/>
<param name="laser_max_beams" value="180"/>
<param name="laser_z_hit" value="0.5"/>
<param name="laser_z_short" value="0.05"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.5"/>
<param name="laser_sigma_hit" value="0.2"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="laser_model_type" value="likelihood_field"/>
<param name="odom_model_type" value="diff"/>
<param name="odom_alpha1" value="0.1"/>
<param name="odom_alpha2" value="0.1"/>
<param name="odom_alpha3" value="0.1"/>
<param name="odom_alpha4" value="0.1"/>
<param name="odom_frame_id" value="odom"/>
<param name="base_frame_id" value="base_link"/>
</node>
</launch>
For more details this is my repo: https://github.com/CDonosoK/robocop_d...
Thanks!