I don’t think we should know every parameter related to AMCL. Some parameters seem related to the Algorithm. I think I should read the associated paper before I use the AMCL to design a robot. However, for now, I am worried about the following parameters that are related to properly implementing the algalgorithm in Gazebo.
transform_tolerance (double, default: 1.0 seconds)
Time with which to post-date the transform that is published, to indicate that this transform is valid into the future.
What’s this ???
The ‘beamskip’ feature and the related parameters:
What is ‘beamskip’ feature? It seems like an outlier escaping technology.
beam_skip_distance(double, default: 0.5)
Ignore beams that most particles disagree within the Likelihood field model. Maximum distance to consider skipping for (m).
beam_skip_error_threshold(double, default: 0.9)
Percentage of beams after not matching map to force full update due to bad convergence.
beam_skip_threshold(double, default: 0.3)
Percentage of beams required to skip.
What’s the difference between beam_skip_error_threshold and beam_skip_threshold?
do_beamskip(bool, default: False)
Whether to do beam skipping in the Likelihood field model.
At last,why is there a ‘ros__parameters’ below the 'amcl:’?