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Okey, thanks! Then I will not implement a Kalman filer with AMCL for now. This is for a thesis where we write about autonomous navigation. We have a youBot to implement some of the algortithms and theory on, and I thought about doing som last minute changes for a more stabile movement.

With the navigation stack I can set the "global_frame" to both odom and map. Do you have any experience with this? When I put the global_frame to map, the costmaps get correct, and it seems to go ok, except for discrete movement. If I set the global frame to odom the movement gets smoother, but I expect not as good planning and long term routes because of the not alligned costmap.