AMCL for (x,y) pose only

asked 2018-09-11 06:05:32 -0600

Omer gravatar image


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?


edit retag flag offensive close merge delete


Just to check, so your virtual 360 degree scans have their orientation fixed relative to the world?

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2018-09-11 07:11:58 -0600 )edit

That's correct

Omer gravatar image Omer  ( 2018-09-11 10:27:54 -0600 )edit