Is it possible to get AMCL weights before resampling?

asked 2023-04-04 00:43:01 -0600

ALNA_Perera gravatar image

I am trying to implement kidnap detection using maximum particle weight, and for that, I need particle weights before resampling. Subscribing to /particle_cloud gives me the particle cloud after resampling, with the max weight constantly at about 1/(no of particles).

I changed the resample interval to get some more varied particle weights, but that isn't exactly what I want. Is there any way I can get the particle weights before resampling?

I'm using ROS2 humble.

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