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Hi Brian,<BR>
<BR>
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?<BR>
<BR>
Is there a way of adding noise to the laser scans?<BR>
<BR>
Thanks,<BR>
Alexis Cheng<BR>
Electrical Engineering<BR>
University of British Columbia<BR>
<BR>
On Mon, Aug 16, 2010 at 2:36 PM, Alexis Cheng <acheng_1221@hotmail.com> wrote:<BR>> I'd like to simulate the ability to decrease the size of the amcl particle<BR>> cloud. Is there any way to increase the quality of the laser scans or<BR>> decrease the error of the amcl particle cloud during runtime? Thank you in<BR>> advance.<BR> <BR>hi Alexis,<BR> <BR>I'm not sure what you mean by increasing the quality of the laser<BR>scans. The scan data coming from stageros is as good as the<BR>underlying simulation can provide. There's no noise added.<BR> <BR>As for amcl, you can reduce its uncertainty by setting a pose, via the<BR>'initialpose' topic. It's of type<BR>geometry_msgs/PoseWithCovarianceStamped, which includes covariance<BR>values. You cannot set the covariance independently of the pose,<BR>however.<BR> <BR>brian.<BR><BR> </body>
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