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Pose array's variance converge(navigation stack, amcl)

asked 2013-02-04 14:53:50 -0500

moyashi gravatar image

Hi, I'm using nav stack with my robot.
I'd like to set a final variance of a robot pose array.

I set amcl's parameters "update_min_a" and "update_min_d" to 0.0
because I'd like to have the robot estimate its pose
even if it stops.

In this case, a pose array showen on rviz converges as soon as amcl node runs.
It's what I like, but the array over-converges.
I mean, all arrows showing robot's pose lie on top of each other.

I guess that some threshold is offered to avoid that.
However, I changed all parameters listed in amcl's wiki and couldn't find
which one is it.

Could you tell me which parameter is used to avoid the above problem?

Thanks in advance.

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answered 2014-09-27 13:14:33 -0500

You can do that through increasing "laser_sigma_hit" value in amcl parameter.

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Asked: 2013-02-04 14:53:50 -0500

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Last updated: Sep 27 '14