amcl divergence
Hi all,
I am tuning the amcl with our differential robot running ros fuete. We are confronting the situation now and then when the particles all of the sudden got spread out (scattered all over the screen) and the robot got lost then. Below is my params for amcl and could anyone can advise which parameters I should adjust to prevent this from happening? Thanks. (The values in the brackets are the default)
~min_particles: 1000(100)
~max_particles: 10000(5000)
~kld_err: 0.05(0.01)
~kld_z: 0.99
~initial_cov_aa: 0.25((pi/12)*(pi/12)=0.06)
~update_min_d: 0.2
~update_min_a: 0.2(pi/6.0=0.52)
~resample_interval: 1(2)
~transform_tolerance: 1.0(0.1)
~recovery_alpha_slow: 0.001(0.0)
~recovery_alpha_fast: 0.1(0.0)
~gui_publish_rate: 10.0(-1.0 to disable)
~odom_model_type: diff
~base_frame_id: base_footprint
~odom_frame_id: odom
~odom_alpha1: 1(0.2)
~odom_alpha2: 1(0.2)
~odom_alpha3: 2(0.2)
~odom_alpha4: 5(0.2)
~laser_max_beams: 60(30)
~laser_z_hit: 0.5(0.95)
~laser_z_short: 0.05(0.1)
~laser_z_max: 0.05
~laser_z_rand: 0.5(0.05)
~laser_sigma_hit: 0.2
~laser_lambda_short: 0.1
~laser_model_type: likelihood_field
~laser_likelihood_max_dist: 2.0
The environment, map and sensor type and robot type will be way more informative. Under normal conditions amcl works well for us with default parameters.