ROS AMCL PACKAGE

绑架问题,   <param name="recovery_alpha_slow" value="0.001"/>

  <param name="recovery_alpha_fast" value="0.1"/>

效果不好,待解决

https://www.cnblogs.com/dyan1024/p/7825988.html

参考blog ：https://blog.youkuaiyun.com/chenxingwangzi/article/details/50038413

https://www.cnblogs.com/zxouxuewei/p/5916023.html

https://blog.youkuaiyun.com/crazyquhezheng/article/details/49154805

https://blog.youkuaiyun.com/wangchao7281/article/details/53691351

parameter解释参考：https://blog.youkuaiyun.com/x_r_su/article/details/53396564

                                             https://www.cnblogs.com/dyan1024/p/7825988.html

一些重要参数：

~use_map_topic (bool, default: false)

• 如果设置为true, AMCL将订阅地图主题，不会使用service call获取地图。New in navigation 1.4.2

~first_map_only (bool, default: false)

• 如果设置为true，AMCL将使用订阅到的第一个地图，不会使用每次更新获取的新地图。New in navigation 1.4.2

~odom_frame_id (string, default:"odom")

• odometry使用的坐标系

~tf_broadcast (bool, default: true)

• 设置为false，amcl将不会发布全局坐标系和里程坐标系之间的转换

~base_frame_id (string, default:"base_link")

• 基座坐标系

~global_frame_id (string, default:"map")

• 全局坐标系

~tf_broadcast (bool, default: true)

• 设置为false，amcl将不会发布全局坐标系和里程坐标系之间的转换

~initial_pose_x (double, default: 0.0 meters)

• Initial pose mean (x), used to initialize filter with Gaussian distribution.

~initial_pose_y (double, default: 0.0 meters)

• Initial pose mean (y), used to initialize filter with Gaussian distribution.

~initial_pose_a (double, default: 0.0 radians)

• Initial pose mean (yaw), used to initialize filter with Gaussian distribution.

~initial_cov_xx (double, default: 0.5*0.5 meters)

• Initial pose covariance (x*x), used to initialize filter with Gaussian distribution.

~initial_cov_yy (double, default: 0.5*0.5 meters)

• Initial pose covariance (y*y), used to initialize filter with Gaussian distribution.

~initial_cov_aa (double, default: (π/12)*(π/12) radian)

• Initial pose covariance (yaw*yaw), used to initialize filter with Gaussian distribution.