ROS Navigation Stack

start from 6.12
https://zhuanlan.zhihu.com/ros-nav
Want to nav using skecthed or emergency map(not accuracy map) originally, but at last it's deprecated for some reasons...
Now it's just a repo for record.

sketched map两篇论文的思路：

修改下粒子滤波的过程，将pose(x,y,theta)多加两个
扩展为pose + (a,b)，也就是局部拉伸变形
里程计的距离也拉伸下

论文的问题：

quick change in the scale，因为scale不像pose一样
pose有测量保证单步之后是个高斯分布
scale也学人家pose，认为是原来的scale发散下
那变化快了localization丢了

report PDF

Name		Name	Last commit message	Last commit date
Latest commit History 1,698 Commits
.vs		.vs
.vscode		.vscode
amcl		amcl
base_local_planner		base_local_planner
carrot_planner		carrot_planner
clear_costmap_recovery		clear_costmap_recovery
costmap_2d		costmap_2d
dwa_local_planner		dwa_local_planner
fake_localization		fake_localization
global_planner		global_planner
html		html
map_server		map_server
move_base		move_base
move_slow_and_clear		move_slow_and_clear
nav_core		nav_core
navfn		navfn
navigation		navigation
out		out
robot_pose_ekf		robot_pose_ekf
rotate_recovery		rotate_recovery
voxel_grid		voxel_grid
.gitignore		.gitignore
.travis.yml		.travis.yml
Autonomous Indoor Robot Navigation Using.pdf		Autonomous Indoor Robot Navigation Using.pdf
GPATH		GPATH
GRTAGS		GRTAGS
GTAGS		GTAGS
Layered Costmaps for Context-Sensitive Navigation.pdf		Layered Costmaps for Context-Sensitive Navigation.pdf
Monte Carlo Localization in Hand-Drawn Maps.pdf		Monte Carlo Localization in Hand-Drawn Maps.pdf
README.md		README.md
git.pdf		git.pdf
paper.md		paper.md
report.pdf		report.pdf

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ROS Navigation Stack

sketched map两篇论文的思路：

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