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2017-05-21 01:49:08 -0500 marked best answer ROS navigation AMCL with extended kalman filter

Hi! I am using the ROS navigation stack with my robot. I have odometry information from the wheel encoders, and a laser range finder. I am currently using AMCL to account for odometry drift. I was wondering if it is benefitial to use an Extended Kalman Filter (EKF node) that takes in information from the wheel odometry and publishes out "odometry_filtered" which I send to AMCL and the move_base node? The odometry isn't that good with just AMCL. The robot turns left and right a lot since AMCL corrects its pose because of the odometry drift.

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2017-05-21 01:48:32 -0500 answered a question ROS navigation AMCL with extended kalman filter

Okey, thanks! Then I will not implement a Kalman filer with AMCL for now. This is for a thesis where we write about auto

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2017-05-20 02:06:37 -0500 asked a question ROS navigation AMCL with extended kalman filter

ROS navigation AMCL with extended kalman filter Hi! I am using the ROS navigation stack with my robot. I have odometry i

2017-05-20 02:06:37 -0500 asked a question ROS navigation

ROS navigation Hi! I am using ROS navigation stack. I am using AMCL for correction of odometry. I was wondering if it is