- [link
text](http://ais.informatik.uni-freiburg.de/publications/papers/roewekaemper12iros.pdf),
the paper pointed out,combining standard components such as
Monte-Carlo localization, and scan
matching, an accuracy of a few
millimeters at taught-in reference
locations can be achieved. For
standard amcl with SICK laser
scanners and enconder ,position
errors between 0.05 m and 0.2 m. I am
trying to use amcl and
laser_scan_matcher package in ROS to
improve the location accuracy of my
differential robot.
- Refer to the paper，moving the robot
physically to the desired goal
locations and recording the locations
and the scan data as referance,run
laser_scan_matcher only if the
estimated position from amcl is
within the attraction area of
the scan matcher(which the author
experimentally found to be
approximately 0.25 m).
- The question is : 1. how can i use
the estimate pose by amcl in
laser_scan_matcher ?
2. the fixed_frame in laser_scan_matcher
shall be map or odom?
3. amcl have provided map->odom tf
Transform,laser_scan_matcher shall
provide what?map->base_link?
↧