Hi,

I would like to apply AMCL on my virtual robot which is a point mass. To the best of my understanding, the default implementation of AMCL has 3 state variables: x, y and yaw. Since my robot is a point mass and my scans are 360 degrees I am not interested in the yaw, only in x and y. Even if I ignore the yaw filed in amcl_pose topic, the oriented particles make the pose estimation diverge to undesired directions over the time.

Is there a way or a trick to make AMCL work with (x,y) only?

Thanks!