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AMCL handles this sort of issue implicitly through weighting and resampling. The particles in seemingly ridiculous locations likely have very low probability, and should disappear through resampling. If this is consistently not happening, I would bet that something is wrong with your sensor or motion model (with can be controlled through a bunch of parameters.

AMCL handles this sort of issue implicitly through weighting and resampling. The particles in seemingly ridiculous locations likely have very low probability, and should disappear through resampling. If this is consistently not happening, I would bet that something is wrong with your sensor or motion model (with (which can be controlled through a bunch of parameters.).