ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

I know how AMCL should work.

After looking at the code I realised that the current AMCL implementation, get stuck while sampling uniformly from the free space in the map for global localisation (it generated more than a million invalid samples before I killed it). A quick fix I did was to look for free space in the map, store the corresponding indices in an array, and sample from the index array uniformly.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.

Powered by Askbot version 0.10.2