Initial pose covariance (y*y), used to initialize filter with Gaussian distribution.~initial_cov_yy ( double, default: 0.5*0.5 meters) Initial pose covariance (x*x), used to initialize filter with Gaussian distribution.~initial_cov_xx ( double, default: 0.5*0.5 meters) Initial pose mean (yaw), used to initialize filter with Gaussian distribution.~initial_pose_a ( double, default: 0.0 radians) Initial pose mean (y), used to initialize filter with Gaussian distribution.~initial_pose_y ( double, default: 0.0 meters) Initial pose mean (x), used to initialize filter with Gaussian distribution.~initial_pose_x ( double, default: 0.0 meters) Exponential decay rate for the fast average weight filter, used in deciding when to recover by adding random poses.~recovery_alpha_fast ( double, default: 0.0 ( disabled)) Exponential decay rate for the slow average weight filter, used in deciding when to recover by adding random poses.~recovery_alpha_slow ( double, default: 0.0 ( disabled)) Time with which to post-date the transform that is published, to indicate that this transform is valid into the future.~transform_tolerance ( double, default: 0.1 seconds) Number of filter updates required before resampling.Rotational movement required before performing a filter update.~update_min_a ( double, default: π/6.0 radians) Translational movement required before performing a filter update.~update_min_d ( double, default: 0.2 meters) Upper standard normal quantile for (1 - p), where p is the probability that the error on the estimated distrubition will be less than kld_err.Maximum error between the true distribution and the estimated distribution.There are three categories of ROS Parameters that can be used to configure the amcl node: overall filter, laser model, and odometery model. amcl calls this service to retrieve the map that is used for laser-based localization startup blocks on getting the map from this service. Services Called static_map ( nav_msgs/GetMap) Service to manually set a new map and pose.Service to manually perform update and publish updated particles.Request_nomotion_update ( std_srvs/Empty) Initiate global localization, wherein all particles are dispersed randomly through the free space in the map. Services global_localization ( std_srvs/Empty)
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