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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.
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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.