starter's profile - activity

Hi,

I am using the `AMCL package with the following configuration:

<node pkg="amcl" type="amcl" name="amcl" clear_params="true">
    <param name="use_map_topic" value="$(arg use_map_topic)"/>

    <param name="odom_model_type" value="diff-corrected"/>
    <param name="odom_alpha5" value="0.0"/>
    <param name="gui_publish_rate" value="10.0"/>

    <param name="laser_max_beams" value="30"/>

    <param name="laser_max_range" value="-1.0"/> 
    <param name="laser_min_range" value="-1.0"/> 
    <param name="min_particles" value="500"/>

   <param name="max_particles" value="5000"/>
    <param name="kld_err" value="0.01"/> <!-- 0.05-->
    <param name="kld_z" value="0.99"/>
    <param name="odom_alpha1" value="4.0"/> <!-- 0.2-->
    <param name="odom_alpha2" value="0.9"/> <!-- 0.2-->

    <param name="odom_alpha3" value="0.2"/> <!-- 0.8 --> 
    <param name="odom_alpha4" value="0.2"/> <!-- 0.2-->
    <param name="laser_z_hit" value="0.5"/>
    <param name="laser_z_short" value="0.0"/>
    <param name="laser_z_max" value="0.0"/>
    <param name="laser_z_rand" value="0.5"/>
    <param name="laser_sigma_hit" value="0.2"/>
    <param name="laser_lambda_short" value="0.1"/>
    <param name="laser_model_type" value="likelihood_field"/>

    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="update_min_d" value="-0.2"/> <!-- 0.25 -->
    <param name="update_min_a" value="-0.5"/> <!-- 0.2 -->
    <param name="odom_frame_id" value="odom"/>
    <param name="resample_interval" value="1"/>

    <param name="transform_tolerance" value="0.3"/> <!-- 1.0 -->
    <param name="recovery_alpha_slow" value="0.0"/>
    <param name="recovery_alpha_fast" value="0.0"/>

The good thing is when the laser points matches exactly the map then the localisation is perfect, however when the laser points does not match exactly the map (even slight difference) the AMCL tries correcting the robot's position on the map but it sets the robot in a completely wrong position.

I think it is something about the AMCL configuration but I do not know exactly which parameter.

I am working with a dynamic footprint, the footprint is small when the robot is close to obstacles and it gets bigger if the robot is in a free open space. when the footprint is big ,the velocity decreases that means that the velocity is way below max_velocity even when there are no obstacles in the costmap, and if the footprint gets smaller the robot accelerates as the footprint is getting smaller and it reaches max_velocity. Does somebody has an explanation for this behavior and can I reverse it (fp big / vel big and vice versa). I am using dwa as local planner. Thank you in advance.

The odometry works fine, the problem is that the robot relies too much on the map for the localisation, therefore if the

AMCL randomly loses localisation. Hi, I am using the `AMCL package with the following configuration: <node pkg="amc

AMCL randomly loses localisation. Hi, I am using the `AMCL package with the following configuration: <node pkg="amc

Thank you for reply, actually after some profiling I found out that the inflation layer is the source of the problem it

map update missed its update loop HI, So my problem is that I have a relatively big map 2144 by 2528 pixels and this le

map update missed its update loop HI, So my problem is that I have a relatively big map 2144 by 2528 pixels and this le

Yes it worked ! I just made a layer with cost 50 over all the points that has 0 as cost and on top of that layer I am dr

How to make a "preferred" area Hi , My goal is to make the robot prefer to plan a path through a zone on the map, theref

"Preferred" layer disappears from global costmap. Hi , My goal is to make the robot prefer to plan a path through a zone

"Preferred" layer disappears from global costmap. Hi , My goal is to make the robot prefer to plan a path through a zone

Actually i found the problem and it was that in the amcl parameters i set transform_tolerance too low so it does not mat

Control loop missed its desired rate Hello, I have a problem when I build the navigation stack (devel indigo) that i did

Yes, still the same exact problem.

Control loop missed its desired rate Hello, I have a problem when I build the navigation stack (devel indigo) that i did

Actually that method is only used once here the output is just passed as an argument to ObstacleCostFunction::footprintC

Actually that method is only used once here the output is just passed as an argument ObstacleCostFunction::footprintCost

Actually that method is only used once here the output is just passed as an argument [h](https://github.com/ros-planning

Actually that method is only used once here the output is just passed as an argument [here](https://github.com/ros-plann

Actually that method is only used once here the output is just passed as an argument [here] and never used. (https://git

@Delb Thank you for your answer, but the main reason why I asked my question is why even when there are absolutely no ob

Relation between footprint and command velocity. I am working with a dynamic footprint, the footprint is small when the

Laser points and map are not superposed I am using The amcl package for the robot localization but during the tests I fi

@jayess you can check the edited version of the question.

Changing the robot pose in the map is too slow Hi, I am simply trying to change the robot pose in the map's frame whenev