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in amcl amcl_node.cpp what does the draw_weight_as_height_ parameter do?

asked 2015-10-06 10:15:20 -0600

dan gravatar image

I am trying to modify amcl_node.cpp to publish the value for max_weight as a measure of how well the laser hits line up with map obstacles. However, there is a parameter, draw_weight_as_height_ that has to be set true for max_weight to be set to anything other than 0. I cannot figure out what draw_weight_as_height_ does.

Refer to this question as to why I am looking at max_weight http://answers.ros.org/question/21799...

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Can you point to where this is in the code? I can't find it.

Dan Lazewatsky gravatar imageDan Lazewatsky ( 2015-10-06 10:30:28 -0600 )edit
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ah, this is in the Mayfield version of the nav stack. I will go back to the main ROS version.

dan gravatar imagedan ( 2015-10-10 20:23:09 -0600 )edit

I also need this feature. Do you mean this release? https://github.com/MayfieldRoboticsPu...

cccheng914 gravatar imagecccheng914 ( 2018-07-26 01:19:53 -0600 )edit

Yes, that is the code I was using. I swapped back to the standard ROS base due to better support, but I really liked the Mayfield nav stack code. They fixed a TON of bugs and issues that were in the ROS nav stack. I think it is still maintained, but I have not used it in a long time.

dan gravatar imagedan ( 2018-08-06 02:09:41 -0600 )edit

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answered 2015-10-10 20:23:53 -0600

dan gravatar image

This is in the Mayfield version of the nav stack; not relevant to the primary ROS version.

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Could you please show me the code base? I also need this feature. Thanks.

cccheng914 gravatar imagecccheng914 ( 2018-07-26 01:27:44 -0600 )edit

see above, you have the right link.

dan gravatar imagedan ( 2018-08-06 02:11:19 -0600 )edit

Thanks for your feedback

cccheng914 gravatar imagecccheng914 ( 2018-09-17 06:24:27 -0600 )edit

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Asked: 2015-10-06 10:15:20 -0600

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Last updated: Oct 10 '15