参考blog :https://blog.csdn.net/chenxingwangzi/article/details/50038413
https://www.cnblogs.com/zxouxuewei/p/5916023.html
https://blog.csdn.net/crazyquhezheng/article/details/49154805
https://blog.csdn.net/wangchao7281/article/details/53691351
parameter解释参考:https://blog.csdn.net/x_r_su/article/details/53396564
https://www.cnblogs.com/dyan1024/p/7825988.html
一些重要参数:
~use_map_topic (bool, default: false)
- 如果设置为true, AMCL将订阅地图主题,不会使用service call获取地图。New in navigation 1.4.2
- 如果设置为true,AMCL将使用订阅到的第一个地图,不会使用每次更新获取的新地图。New in navigation 1.4.2
- odometry使用的坐标系
- 设置为false,amcl将不会发布全局坐标系和里程坐标系之间的转换
- 基座坐标系
- 全局坐标系
- 设置为false,amcl将不会发布全局坐标系和里程坐标系之间的转换
~initial_pose_x (double, default: 0.0 meters)
- Initial pose mean (x), used to initialize filter with Gaussian distribution.
- Initial pose mean (y), used to initialize filter with Gaussian distribution.
- Initial pose mean (yaw), used to initialize filter with Gaussian distribution.
- Initial pose covariance (x*x), used to initialize filter with Gaussian distribution.
- Initial pose covariance (y*y), used to initialize filter with Gaussian distribution.
- Initial pose covariance (yaw*yaw), used to initialize filter with Gaussian distribution.