Ask Your Question

Revision history [back]

I guess you are using amcl to localize the robot. If that is the case, what is happening is that you have very little or redundant information about the map you are in, which results in many candidate poses for acml.

Imagine your robot is in an empty square room, facing a corner. How can you tell which corner the robot is facing?

To solve you problem, either create a map with more distinct features or play with amcl parameters, as reducing the number of particles or setting the parameters recovery_alpha_slow and recovery_alpha_fast to 0.