ROS AMCL PACKAGE

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

~first_map_only  ( bool , default: false)

• 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

~odom_frame_id  ( string , default: "odom" )

• odometry使用的坐标系

~tf_broadcast  ( bool , default: true)

• 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

~base_frame_id  ( string , default: "base_link" )

• 基座坐标系

~global_frame_id  ( string , default: "map" )

• 全局坐标系

~tf_broadcast  ( bool , default: true)

• 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_y  ( double , default: 0.0 meters)

• Initial pose mean (y), used to initialize filter with Gaussian distribution.

~initial_pose_a  ( double , default: 0.0 radians)

• Initial pose mean (yaw), used to initialize filter with Gaussian distribution.

~initial_cov_xx  ( double , default: 0.5*0.5 meters)

• Initial pose covariance (x*x), used to initialize filter with Gaussian distribution.

~initial_cov_yy  ( double , default: 0.5*0.5 meters)

• Initial pose covariance (y*y), used to initialize filter with Gaussian distribution.

~initial_cov_aa  ( double , default: (π/12)*(π/12) radian)

• Initial pose covariance (yaw*yaw), used to initialize filter with Gaussian distribution.