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)...
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...
~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 ”) ...
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_model_type:"differential"#Need to customize later an Ackermman plugin for this according to the documentation: https://navigation.ros.org/configuration/packages/configuring-amcl.html save_pose_rate:0.5 sigma_hit:0.2 tf_broadcast:true
此外,robot_localization具有可重构状态估计节点,这些节点使用卡尔曼滤波器融合多个数据源,这也是使用它的另一个原因。 我们将为局部里程计设置一个扩展卡尔曼滤波器,融合车轮里程计和 IMU 数据;第二个节点用于全局定位,融合本地笛卡尔转换的 GPS 坐标、车轮里程计和 IMU 数据;以及 navsat_transform 节点,用于从 GPS...
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 ...
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...
<!-- 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"/> ...