[ros-users] Stage and amcl Parameters

[Brian Gerkey]

On Thu, Aug 19, 2010 at 11:20 AM, Alexis Cheng <acheng_1221 at hotmail.com> wrote:
> Regarding the amcl initial pose, is it something that I can set and reset at
> any point? For example, if amcl has already generated a particle cloud,
> would sending a pose via the initial pose topic regenerate the particle
> cloud with less uncertainty?

Yes, you can reset it at any time.  On each receipt of an initialpose
message, amcl will generate a new particle cloud by sampling from a
Gaussian distribution with the given mean (pose) and covariance.

> Is there a way of adding noise to the laser scans?

It's not built in anywhere, but it would be simple enough to write a
little node that takes in the raw scans, adds noise (of whatever kind
you think is realistic) and re-publishes them.  If you do that, please
share your code; it would be helpful for others!

	brian.