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

Revision history [back]

click to hide/show revision 1
initial version

To answer #1: From the documentation about gmapping parameters:

~maxRange (float)

The maximum range of the sensor. If regions with no obstacles within the range of the sensor should appear as free space in the map, set maxUrange < maximum range of the real sensor <= maxRange.

I haven't played with amcl/gmapping very much, but isn't that the desired behavior? You should be able to tweak parameters such that the estimated error matches how good your robot's odometry (and/or inertial sensor) is, but when moving in the absence of sensor data, your pose estimate should degrade.

To answer #1: #1: From the documentation about gmapping parameters:

~maxRange (float)

The maximum range of the sensor. If regions with no obstacles within the range of the sensor should appear as free space in the map, set maxUrange < maximum range of the real sensor <= maxRange.

#2: I haven't played with amcl/gmapping very much, but isn't that the desired behavior? You should be able to tweak parameters such that the estimated error matches how good your robot's odometry (and/or inertial sensor) is, but when moving in the absence of sensor data, your pose estimate should degrade.