Laser points and map are not superposed

asked 2018-01-26 09:19:37 -0500

starter gravatar image

updated 2018-01-26 09:24:54 -0500

I am using The amcl package for the robot localization but during the tests I figured out that the laser points drifts away from the map's black lines while the robot is moving but the laser points and the map become superposed when the robot stops. You can check how the laser points and the map are not superposed here.

Those are the amcl parameters :


  <arg name="use_map_topic" default="false"/>
  <arg name="scan_topic" default="scan"/>

  <node pkg="amcl" type="amcl" name="amcl" clear_params="true">
    <param name="use_map_topic" value="$(arg use_map_topic)"/>

    <param name="odom_model_type" value="diff"/>
    <param name="odom_alpha5" value="0.1"/>
    <param name="gui_publish_rate" value="10.0"/>
   <!--  <param name="laser_max_beams" value="60"/>-->
    <param name="laser_max_beams" value="30"/>
   <!-- <param name="laser_max_range" value="12.0"/>-->
    <param name="laser_max_range" value="-1.0"/>
    <param name="laser_min_range" value="-1.0"/>
    <param name="min_particles" value="500"/>

   <param name="max_particles" value="5000"/>
    <param name="kld_err" value="0.05"/>
    <param name="kld_z" value="0.99"/>
    <param name="odom_alpha1" value="0.2"/>
    <param name="odom_alpha2" value="0.2"/>
    <!-- translation std dev, m -->
    <param name="odom_alpha3" value="0.8"/> <!-- 0.2 -->
    <param name="odom_alpha4" value="0.2"/>
    <param name="laser_z_hit" value="0.5"/>
    <param name="laser_z_short" value="0.05"/>
    <param name="laser_z_max" value="0.05"/>
    <param name="laser_z_rand" value="0.5"/>
    <param name="laser_sigma_hit" value="0.2"/>
    <param name="laser_lambda_short" value="0.1"/>
    <param name="laser_model_type" value="likelihood_field"/>

    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="update_min_d" value="0.2"/> <!-- 0.25 -->
    <param name="update_min_a" value="0.5"/> <!-- 0.2 -->
    <param name="odom_frame_id" value="odom"/>
    <param name="resample_interval" value="1"/>

    <param name="transform_tolerance" value="0.1"/> <!-- 1.0 -->
    <param name="recovery_alpha_slow" value="0.0"/>
    <param name="recovery_alpha_fast" value="0.0"/>
    <remap from="scan" to="$(arg scan_topic)"/>



I Think there is something wrong with the parameters. Can somebody point out the problem here, and thank you in advance.

edit retag flag offensive close merge delete