SLAM_toolbox automaticly dectect initial pose
Hi all,
I would like to know if someone knows a way to detect automaticly the initial position of a robot when starting the slam node in localization mode before making any movement, like by just trying to match the current laser scan datas to the current saved map ?
As far as I know, when the position is not initialized it should converge to its actual position but takes time for it, even more when the initial pose of of the robot is far from its real position. Is there kind of an indicator returned from the package that express the error between current scan and saved map ?
I'll be happy to develop a tool in order to get this functionality if it doesn't exist yet, but any help on this would be apreciate ! Thanks in advance.