0
$\begingroup$

Rosanswers logo

The initial pose array is really much bigger than it needs to be. How do I change it's initial dimensions?

Originally posted by JediHamster on ROS Answers with karma: 995 on 2011-04-16

Post score: 1

Original comments

Comment by JediHamster on 2011-04-18:
No I don't mean the number of particles, I mean the dimensions over which the particles are initially distributed.

Comment by eitan on 2011-04-18:
That's a good point actually, I guess you can change the dimensions of that array by changing the number of particles AMCL uses.

Comment by Eric Perko on 2011-04-18:
Do you mean the number of particles (elements in the array) or just the overall spread of those particles, say, when visualized in rviz?

Comment by JediHamster on 2011-04-17:
There is an array of poses published to /particlecloud, I think by amcl.

Comment by eitan on 2011-04-17:
I'm not totally sure what array you're referring to. Are you talking about the PoseWithCovarianceStamped message that's sent to AMCL? The ParticleCloud message published by AMCL? Or something else entirely?

Improve this question
$\endgroup$

1 Answer 1

Reset to default
0
$\begingroup$

Rosanswers logo

From looking at the code, AMCL sizes the pose array in the "particlecloud" message to be the size of the number of guesses it currently has for the robot's pose. There's no way to change its initial dimensions. If you just want the current pose of the robot displayed in rviz, you can enable TF frames and look at the "base_link" frame relative to the "map" frame. The "particlecloud" message, provides a visualization that helps give insight into the particle filter AMCL uses internally.

Originally posted by eitan with karma: 2743 on 2011-04-18

This answer was ACCEPTED on the original site

Post score: 0

Improve this answer
$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.