amcl crashing when recovery alpha values are set
Hi,
I am trying to set up AMCL for localization on my simulation and it works fine as long as recovery_alpha_fast and recovery_alpha_slow are both set to 0.0. When I set recovery_alpha_fast to 0.1 and recovery_alpha_slow to 0.001, AMCL does not appear to work at all. /amcl_pose is in the topic list but all that is published to it is the initial pose, and I am simply not getting anything else out of it. Nothing is published to /particle cloud as well. When I move the robot, I get an error message (There are no error messages unless I try to move the robot).
[ERROR] [amcl-3]: process has died [pid 20497, exit code -11, cmd '/opt/ros/humble/lib/nav2_amcl/amcl --ros-args -r __node:=amcl --params-file /home/nipuni/Projects/test_robot/install/test_robot/share/test_robot/config/amcl_params.yaml']. The contents of the amcl_params.yaml file is given below:
amcl:
ros__parameters:
alpha1: 0.2
alpha2: 0.2
alpha3: 0.2
alpha4: 0.2
alpha5: 0.2
base_frame_id: "base_link"
beam_skip_distance: 0.5
beam_skip_error_threshold: 0.9
beam_skip_threshold: 0.3
do_beamskip: false
global_frame_id: "map"
lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_max_range: 8.0
laser_min_range: 0.3
laser_model_type: "likelihood_field"
max_beams: 360
max_particles: 2000
min_particles: 500
odom_frame_id: "odom"
pf_err: 0.05
pf_z: 0.99
recovery_alpha_fast: 0.1
recovery_alpha_slow: 0.001
resample_interval: 1
robot_model_type: "nav2_amcl::DifferentialMotionModel"
save_pose_rate: 0.5
sigma_hit: 0.2
tf_broadcast: true
transform_tolerance: 1.0
update_min_a: 0.2
update_min_d: 0.25
z_hit: 0.5
z_max: 0.05
z_rand: 0.5
z_short: 0.05
scan_topic: scan
map_topic: map
set_initial_pose: true
always_reset_initial_pose: false
first_map_only: false
initial_pose:
x: 0.0
y: 0.0
z: 0.0
yaw: 0.0
I would appreciate any help with this.
Thanks!
