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Matching LaserScan and staticmap

asked 2020-02-21 22:45:17 -0500

Nikhil Chowdary gravatar image

updated 2022-03-20 09:57:28 -0500

lucasw gravatar image

I am trying to write a code in which the inputs are laser scan and static map, whereas the outputs are the percentage of laser scan was matching with the map. But I figured it out that AMCL was already doing this for localization. Can I know what are the parameters are taken into consideration and how to proceed?

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What do you mean with the parameters taken into consideration ? You should take a look at amc_laser.cpp, you can see how the AMCL calculates the probability of a position being correct by calculating the difference between the given pose and the laser data, is this what you are looking for ?

Delb gravatar image Delb  ( 2020-02-24 02:22:53 -0500 )edit

Yes sir. I was confused at the file amcl_laser.cpp. Can I know how the weights are calculated at each position? And some detailed explanation regarding this?

Nikhil Chowdary gravatar image Nikhil Chowdary  ( 2020-02-24 04:29:00 -0500 )edit

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answered 2020-04-06 09:30:04 -0500

LukeBowersox gravatar image

Look at amcl on the wiki You can add any of the listed parameters into your launch file with the param tag. You could also make a yaml with your desired configuration and load it. Similar to what you may have seen move_base do with its configuration files in its launch file. Here might be a hint for getting it to work better, but honestly tuning can take a long time.

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Asked: 2020-02-21 22:45:17 -0500

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Last updated: Apr 06 '20