laser_model_type: "likelihood_field" max_beams: 60 max_particles: 2000 min_particles: 500 odom_frame_id: "odom" pf_err: 0.05 pf_z: 0.99 recovery_alpha_fast: 0.0 recovery_alpha_slow: 0.0 resample_interval: 1 robot_model_type: "nav2_amcl::DifferentialMotionModel" save_pose_rate: 0.5 s...
laser_model_type: "likelihood_field" max_beams: 60 max_particles: 2000 min_particles: 500 odom_frame_id: "odom" pf_err: 0.05 pf_z: 0.99 recovery_alpha_fast: 0.0 recovery_alpha_slow: 0.0 resample_interval: 1 robot_model_type: "nav2_amcl::DifferentialMotionModel" save_pose_rate: 0.5 s...
一些重要的设置: ~robot_model_type (string, default: ”differential”) ~odom_frame_id (string, default: ”odom”) ~base_frame_id (string, default: ”base_link”) ~global_frame_id (string, default: ”map”) ~scan_topic (string, default: ”scan ”) ~min_particles (int, default: 100)...
一些重要的设置: ~robot_model_type (string, default: ”differential”) ~odom_frame_id (string, default: ”odom”) ~base_frame_id (string, default: ”base_link”) ~global_frame_id (string, default: ”map”) ~scan_topic (string, default: ”scan ”) ~min_particles (int, default: 100)...
~robot_model_type (string, default: ”differential”) ~odom_frame_id (string, default: ”odom”) ~base_frame_id (string, default: ”base_link”) ~global_frame_id (string, default: ”map”) ~scan_topic (string, default: ”scan ”) ...
robot_model_type: "nav2_amcl::DifferentialMotionModel" save_pose_rate: 0.5 sigma_hit: 0.2 tf_broadcast: true transform_tolerance: 0.5 update_min_a: 0.2 update_min_d: 0.25 z_hit: 0.5 z_max: 0.05 z_rand: 0.5 z_short: 0.05 scan_topic: scan ...
0.05pf_z:0.99recovery_alpha_fast:0.0recovery_alpha_slow:0.0resample_interval:1robot_model_type:"nav2_amcl::DifferentialMotionModel"save_pose_rate:0.5sigma_hit:0.2tf_broadcast:truetransform_tolerance:10.0update_min_a:0.2update_min_d:0.25z_hit:0.5z_max:0.05z_rand:0.5z_short:0.05scan_topic: ...
<!-- Robot Footprint --> <link name="base_footprint"/> <joint name="base_joint" type="fixed"> <parent link="base_link"/> <child link="base_footprint"/> <origin xyz="0.0 0.0 ${-(wheel_radius+wheel_zoff)}" rpy="0 0 0"/> ...
laser_model_type:"likelihood_field" max_beams:60 max_particles:2000 min_particles:500 odom_frame_id:"odom" pf_err:0.05 pf_z:0.99 recovery_alpha_fast:0.0 recovery_alpha_slow:0.0 resample_interval:1 robot_model_type:"differential"#Need to customize later an Ackermman plugin for this according...
您可以通过在左侧窗格的 RobotModel 下启用 Collision Enabled 来验证是否已正确设置碰撞区域(如果您还关闭 Visual Enabled,可能会更容易看到)。在本教程中,我们定义了一个与我们的视觉属性类似的碰撞区域。请注意,情况可能并非总是如此,因为您可能会根据机器人的外观选择更简单的碰撞区域。 现在,我们必须在这里停下来...