multiple amcl on one odom
I'm trying to evaluate and compare 2 lidar performance at the same time on the same robot. I know amcl can only take in one odom at a time, is this possible?
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I'm trying to evaluate and compare 2 lidar performance at the same time on the same robot. I know amcl can only take in one odom at a time, is this possible?
I guess you misunderstood something. (Or I might be misunderstanding what you try to do).
Comparing the performance of 2 lidars by doing localization in a given map should be doable by running two amcl
instances side by side. You only need to make sure to set tf_broadcast
to false for at least one of the two nodes.
However, this then has nothing to do with amcl
taking in multiple odom
s (as you say). amcl
retrieves the odom
->base_link
transform via tf
. And then outputs the transform from map
->odom
(if enabled).
You then need to compare the published amcl_pose
and particle_cloud
topics (make sure to remap those to unique names).
Thank you. This works. However, I'm facing this issue to determine which lidar is better as I have no ground truth for these amcl_pose. The only ground truth that I can think of is to create a path for the robot and run pure pursuit but how do I compare them?
Asked: 2020-03-03 03:17:09 -0500
Seen: 299 times
Last updated: Mar 03 '20
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