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laser_max_beams amcl parameter

asked 2015-08-20 09:17:05 -0500

osmancns gravatar image

ı have a hokuyo lidar. and it's max range 5.6 m (10hz) 240° ....

ı cant understand laser_max_beams exactly. what will I do this parameter for my lidar.?? (default : 30)

can you explain me ?

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answered 2015-08-20 15:34:29 -0500

staljbs gravatar image

This parameter describes how many beams will be used to calculate the likelihood during the update step. Therefore, every i-th beam will be used, where i is denoted by the quotient of maximum number of beams and the count of used beams. If the count of used beams is too high, the real time constraint is not fulfilled.

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thank you. well, you think what can I do laser_max_beams as ideally for my 5.6 m (10hz) 240° lidar. (laser_max_beams : 30 or 60 or 80 or 180) ??

osmancns gravatar image osmancns  ( 2015-08-21 03:00:20 -0500 )edit

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Asked: 2015-08-20 09:17:05 -0500

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Last updated: Aug 20 '15