Add max_beams parameter to beluga_amcl
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Looks like I'll need to add tests for this to pass the coverage check. 😅 |
This was referenced Jan 25, 2023
There is a parameter in `nav2_amcl` that is used to decimate the laser scan beams before updating the measurement model. This patch adds that feature to `beluga_amcl`, allowing us to compare performance more fairly. Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
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ivanpauno
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Jan 27, 2023
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
ivanpauno
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Jan 27, 2023
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Summary
There is a parameter in
nav2_amclthat is used to decimate the laser scan beams before updating the measurement model. This patch adds that feature tobeluga_amcl, allowing us to compare performance more fairly.See:
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