[AMCL] Add option to force nomotion update after initialpose #1226
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When setting the new parameter force_nomotion_update_after_initialpose is set to true, a filter update is forced after the pose is re-initialized with a message on /initialpose. This often results in a better pose right after re-localization, without any motion needed.
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I added another commit to add a second parameter |
amcl/cfg/AMCL.cfg
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| @@ -28,6 +28,8 @@ gen.add("beam_skip_distance", double_t, 0, "Distance from a valid map point befo | |||
| gen.add("beam_skip_threshold", double_t, 0, "Ratio of samples for which the scans are valid to consider as valid scan", 0.3, 0, 1) | |||
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| gen.add("tf_broadcast", bool_t, 0, "When true (the default), publish results via TF. When false, do not.", True) | |||
| gen.add("force_nomotion_update_after_initialpose", bool_t, 0, "When true, force a pose update after a new /initialpose is received.", False) | |||
| gen.add("force_nomotion_update_after_set_map", bool_t, 0, "When true, force a pose update after a new map (and pose) has been set via the /set_map service.", False) | |||
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is there a reason to include "nomotion" in the names? These are pretty long variable names, and "force_update_after_X" seems to convey exactly what is going on.
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Sounds good, I'll rename.
mikeferguson
approved these changes
Nov 29, 2022
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Thanks @mikeferguson! |
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@mikeferguson would you be so kind and bloom a noetic release to get this in? |
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Awesome, thank you @mikeferguson! |
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force_update_after_initialpose. When set totrue, an update is forced on the next laser scan callback, such as when the/request_nomotion_updateservice is called. This often results in an improved robot pose after a manual (not very precise) re-localization - without a need for the robot to move.now, catching exceptions by value), normalizes how tf exceptions are caught.