Effective Robotics Programming with ROS Third Edition by Mahtani Anil & Sanchez Luis & Fernandez Enrique & Martinez Aaron

Author:Mahtani, Anil & Sanchez, Luis & Fernandez, Enrique & Martinez, Aaron
Language: eng
Format: epub
Publisher: Packt Publishing
Published: 2016-12-26T16:00:00+00:00

The min_particles and max_particles parameters set the minimum and maximum number of particles that are allowed for the algorithm. With more particles, you get more accuracy, but this increases the use of the CPU.

The laser_model_type parameter is used to configure the laser type. In our case, we are using a likelihood_field parameter but the algorithm can also use beam lasers.

The laser_likelihood_max_dist parameter is used to set the maximum distance for obstacle inflation on the map, which is used in the likelihood_field model.

The initial_pose_x, initial_pose_y, and initial_pose_a parameters are not in the launch file, but they are interesting because they set the initial position of the robot when amcl starts; for example, if your robot always starts in the dock station and you want to set the position in the launch file.

Perhaps you should change some parameters to tune your robot and make it work fine. Visit http://wiki.ros.org/amcl, where you have a lot of information about the configuration and the parameters that you could change.

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