Preventing large jumps in AMCL

asked 2018-09-25 23:10:06 -0500

Omegastick gravatar image

updated 2018-09-26 01:08:41 -0500

mgruhler gravatar image

When using AMCL, if some large obstacle (e.g. a trolley) passes close to my robot, interfering with the sensor data, AMCL tries to localise the robot and places it in vastly different location (often inside a wall). It also does this when first starting AMCL, before the robot's initial pose has been set, making specifying a pose difficult.

Is there any way to tell AMCL that the robot's odometry is more-or-less accurate, and to only make small (less than 1m) adjustments to the robot's position?

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Comments

You must go deep by changing the source code of AMCL

achmad_fathoni gravatar imageachmad_fathoni ( 2018-09-26 00:45:17 -0500 )edit
1

Please don't do that. Go to the amcl wiki page instead to see all the paramaters available and try to set them according to your needs.

Delb gravatar imageDelb ( 2018-09-26 01:06:59 -0500 )edit

Your issue probably comes from a misconfiguration of AMCL. I guess that you set the AMCL initial pose params to a different value than the actual one. Can you describe what nodes are you launching exactly and what is your current amcl configuration ?

Delb gravatar imageDelb ( 2018-09-26 01:10:23 -0500 )edit

I've looked at the parameters but I don't see any that look like they'll help with this problem. Currently, I don't know the robot's starting position until after I've loaded the map in Rviz, so I'm leaving the AMCL intial_pose parameters at 0 and using Rviz to set the intial pose.

Omegastick gravatar imageOmegastick ( 2018-09-26 04:21:15 -0500 )edit

Nodes I'm running: robot's base controller, amcl, map_server, move_base (and move_base's required pathing nodes).

I guess what I'm trying to tell AMCL is that sometimes the laser scan's are going to be very wrong for a long period of time, and to ignore them if they imply a very large jump.

Omegastick gravatar imageOmegastick ( 2018-09-26 04:23:53 -0500 )edit