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Multiple initialpose candidates for amcl

Is it possible to initialize AMCL's filter with multiple poses?

Using another node, I calculate a list of possible poses that my robot may be at. I want AMCL to create initial particles around these candidate poses. Is this possible?

Asked by yigit on 2021-05-02 04:23:52 UTC

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Out of the box, AMCL doesn’t support this. It wouldn’t be incomprehensibly difficult to implement though.

Asked by stevemacenski on 2021-05-02 13:32:53 UTC

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